MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.6s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	21.5s	12 errors · 319 warnings · 1592 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-13-19-08-33-922164-2bc947d11345-7939 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.68sINFOstatic_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' + 4.69sINFOstatic_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' + 4.70sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.97sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.97sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.97sINFOros2_control_node-13process started with pid [8104] ×2 + 4.98sINFOmove_group-25process started with pid [8160] ×2 + 4.98sINFOparameter_manager_node-26process started with pid [8161] ×2 + 4.98sINFOwaypoint_manager_node-27process started with pid [8162] ×2 + 4.98sINFOmove_joint_resampler_node-28process started with pid [8163] ×2 + 4.98sINFOmove_end_effector_resampler_node-29process started with pid [8164] ×2 + 4.98sINFOobjective_server_node_main-30process started with pid [8165] ×2 + 4.98sINFOcomponent_container_mt-31process started with pid [8166] ×2 + 4.98sINFOcomponent_container_mt-32process started with pid [8167] ×2 + 4.98sINFOexecute_objective_bridge-33process started with pid [8168] ×2 + 4.98sINFOui_teleop_bridge-34process started with pid [8169] ×2 + 4.98sINFOweb_bridge-35process started with pid [8170] ×2 + 4.98sINFOtf_visualization_relay-36process started with pid [8171] ×2 + 4.98sINFOjoint_state_visualization_relay-37process started with pid [8173] ×2 + 4.98sINFOtf2_web_republisher_node-38process started with pid [8174] ×2 + 4.98sINFOvideo_server-39process started with pid [8177] ×2 + 4.98sINFOweb_bridge_auth_proxy-40process started with pid [8178] ×2 + 4.98sINFOweb_video_auth_proxy-41process started with pid [8179] ×2 + 4.98sINFOcomponent_container_isolated-1process started with pid [7989] ×2 + 4.98sINFOcomponent_container_isolated-2process started with pid [7990] ×2 + 4.98sINFOstatic_transform_publisher-3process started with pid [7991] ×2 + 4.98sINFOodom_world_drift-4process started with pid [7992] ×2 + 4.98sINFOlidar_flattener.py-5process started with pid [7993] ×2 + 4.98sINFOstatic_transform_publisher-6process started with pid [7994] ×2 + 4.98sINFOstatic_transform_publisher-7process started with pid [7995] ×2 + 4.98sINFOscan_to_scan_filter_chain-8process started with pid [7996] ×2 + 4.98sINFOscan_to_scan_filter_chain-9process started with pid [7997] ×2 + 4.98sINFOrelay-10process started with pid [8101] ×2 + 4.98sINFOrelay-11process started with pid [8102] ×2 + 4.98sINFOfixed_lag_smoother_node-12process started with pid [8103] ×2 + 4.98sINFOros2-14process started with pid [8105] ×2 + 4.98sINFOros2-15process started with pid [8106] ×2 + 5.00sINFOros2-16process started with pid [8107] ×2 + 5.00sINFOros2-17process started with pid [8108] ×2 + 5.00sINFOros2-18process started with pid [8109] ×2 + 5.00sINFOros2-19process started with pid [8110] ×2 + 5.00sINFOros2-20process started with pid [8111] ×2 + 5.00sINFOros2-21process started with pid [8112] ×2 + 5.00sINFOros2-22process started with pid [8113] ×2 + 5.00sINFOros2-23process started with pid [8114] ×2 + 5.00sINFOros2-24process started with pid [8115] ×2 + 5.00sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.01sINFOstate_estimatorReceived a set_pose request (stamp: 1791918520669697538, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.01sINFOcontroller_managerupdate rate is 600 Hz + 5.01sINFOcontroller_managerOverruns handling is : enabled + 5.01sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.01sWARNcontroller_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. + 5.02sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.02sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.02sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.02sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.02sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.02sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.02sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.02sINFOstatic_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 + 5.03sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.03sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.03sWARNros2_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 + 5.04sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592384 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592384 ms (missed cycles : 4).[0m ×2 + 5.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.05sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.09sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.09sINFOmap_serverCreating + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.11sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.11sINFOcontroller_serverCreating controller server + 5.13sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.13sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.13sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.14sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.16sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.18sINFOlocal_costmap.local_costmapCreating Costmap + 5.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.19sINFOvideo_server2026/10/13 19:08:40 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.19sINFOvideo_server2026/10/13 19:08:40 INF configuration loaded from /tmp/moveit-webrtc-ezn7jtbj/mediamtx.yml ×2 + 5.19sINFOvideo_server2026/10/13 19:08:40 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.19sINFOvideo_server2026/10/13 19:08:40 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.20sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.21sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.21sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.25sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.26sINFOlifecycle_manager_localizationCreating + 5.27sINFOsmoother_serverCreating smoother server + 5.27sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.29sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.29sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.29sINFOmap_serverConfiguring + 5.30sINFOrobot_state_publisherRobot initialized + 5.30sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.30sINFOcontroller_managerReceived robot description from topic. + 5.30sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.31sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.31sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.32sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.34sINFOplanner_serverCreating + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.36sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.36sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.38sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.39sINFOglobal_costmap.global_costmapCreating Costmap + 5.40sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.40sINFOamclConfiguring + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.41sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.41sINFOmap_serverActivating + 5.41sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.46sINFObehavior_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. + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.52sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.52sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.52sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.52sINFOamclActivating + 5.52sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.52sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.54sINFOamclSubscribed to map_topic: /map + 5.54sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.54sINFOamclCreated reinitialize_global_localization service + 5.54sINFOamclCreated request_nomotion_update service + 5.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.56sINFOamclA new map was received + 5.56sINFOamclInitializing particle filter instance + 5.61sINFObt_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. + 5.64sINFObt_navigatorCreating + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.70sWARNlaser_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. + 5.70sWARNscan_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 + 5.71sINFOwaypoint_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. + 5.71sINFOwaypoint_followerCreating + 5.71sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.81sINFOvelocity_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. + 5.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.88sINFOlifecycle_manager_navigationCreating + 5.89sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.89sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.92sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.92sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.92sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.98sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.98sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.98sINFOcontroller_serverConfiguring controller interface + 5.98sINFOcontroller_servergetting progress checker plugins.. + 5.98sINFOcontroller_servergetting goal checker plugins.. + 5.98sINFOcontroller_serverController frequency set to 20.0000Hz + 5.98sINFOlocal_costmap.local_costmapConfiguring + 6.03sINFOweb_video_auth_proxy2026-10-13 19:08:41,691 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.03sINFOweb_video_auth_proxy2026-10-13 19:08:41,693 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.03sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 6.05sINFOweb_bridge_auth_proxy2026-10-13 19:08:41,709 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.08sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.485128 ms (missed cycles : 6). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.485128 ms (missed cycles : 6).[0m ×2 + 6.14sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.14sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.21sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.23sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.23sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.24sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.25sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.33sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.33sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.33sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.34sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.34sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.34sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.34sINFOamclParticle filter initialization completed + 6.34sINFOamclInitializing particles from estimated pose and covariance + 6.34sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.35sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.35sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.35sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.35sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.35sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.35sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.36sINFOcontroller_serverOptimizer reset ×2 + 6.38sINFOcontroller_serverController Server has FollowPath controllers available. + 6.42sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.42sINFOsmoother_serverConfiguring smoother server + 6.43sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.44sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.46sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.520625 seconds + 6.46sINFOmove_groupLoaded robot model in 0.520625 seconds[0m ×2 + 6.46sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.46sINFOplanner_serverConfiguring + 6.46sINFOglobal_costmap.global_costmapConfiguring + 6.46sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.46sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.46sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.46sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.47sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.47sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.49sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.50sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.50sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.50sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.50sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.56sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.56sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.57sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.63sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.63sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.64sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.66sINFOplanner_serverPlanner Server has GridBased planners available. + 6.69sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.69sINFObehavior_serverConfiguring + 6.71sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.72sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.73sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.73sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.74sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.74sINFObehavior_serverConfiguring spin + 6.76sINFObehavior_serverConfiguring backup + 6.76sINFObehavior_serverConfiguring drive_on_heading + 6.77sINFObehavior_serverConfiguring assisted_teleop + 6.79sINFObehavior_serverConfiguring wait + 6.80sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.80sINFObt_navigatorConfiguring + 6.81sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.82sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.91sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.91sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.91sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.91sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.94sINFOros2_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 + 6.95sINFOros2_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 + 6.97sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 7.04sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.04sINFOwaypoint_followerConfiguring + 7.07sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.07sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.07sINFOvelocity_smootherConfiguring velocity smoother + 7.09sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 7.09sINFOcontroller_serverActivating + 7.09sINFOlocal_costmap.local_costmapActivating + 7.09sINFOlocal_costmap.local_costmapChecking transform + 7.09sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×3 + 7.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427035 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427035 ms (missed cycles : 2).[0m ×2 + 7.27sINFOwaypoint_manager_nodeLoaded robot model in 0.434097 seconds[0m ×2 + 7.27sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.27sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.57sINFOmove_group[2026-10-13 19:08:43.235] [moveit_pro_license] [info] ×2 + 7.57sINFOmove_group************************************************* ×4 + 7.57sINFOmove_group* MoveIt Pro License ×2 + 7.57sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.78sWARNwaypoint_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 + 7.78sWARNwaypoint_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. + 7.79sWARNwaypoint_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 + 7.79sWARNwaypoint_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. + 7.79sWARNwaypoint_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. + 7.79sWARNwaypoint_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 + 7.79sWARNwaypoint_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 + 7.79sWARNwaypoint_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. + 7.79sWARNwaypoint_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. + 7.79sWARNwaypoint_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 + 7.79sWARNwaypoint_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 + 7.87sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.87sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.87sINFOros2_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 + 7.87sWARNros2_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 + 7.87sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.87sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.87sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.87sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.87sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.87sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.87sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.87sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.87sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.87sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.87sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.87sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.87sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.87sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.87sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.87sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.87sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.87sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.87sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.87sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.87sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.87sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.87sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.93sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.93sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.93sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.93sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.93sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.94sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.94sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.94sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.94sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.94sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.94sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.94sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.94sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.95sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.95sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.95sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.97sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.98sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 7.98sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 8.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.03sINFOplatform_velocity_controllerconfigure successful + 8.03sINFOros2_control_nodeconfigure successful[0m ×6 + 8.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.04sINFOcontroller_managerSuccessfully switched controllers! ×22 + 8.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 8.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.05sINFOwaypoint_manager_node[2026-10-13 19:08:43.715] [moveit_pro_license] [info] ×2 + 8.05sINFOwaypoint_manager_node************************************************* ×4 + 8.05sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 8.05sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.10sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.10sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.14sINFOros2_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 + 8.14sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.14sWARNros2_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 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166564 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166564 ms (missed cycles : 2).[0m ×2 + 8.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.38sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.38sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.41sINFOros2-17process has finished cleanly [pid 8108] ×2 + 8.45sINFOobjective_server_node[2026-10-13 19:08:44.117] [moveit_pro_license] [info] ×2 + 8.45sINFOobjective_server_node************************************************* ×4 + 8.45sINFOobjective_server_node* MoveIt Pro License ×2 + 8.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.52sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.52sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.53sINFOobjective_server_nodeLoaded robot model in 0.0284686 seconds[0m ×2 + 8.53sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.53sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.57sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 8.57sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 8.59sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×7 + 8.64sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.64sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.66sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.80sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.84sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.84sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.84sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.84sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.85sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.85sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.85sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.85sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.85sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.85sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.85sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.86sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.86sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.86sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.86sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.86sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.87sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.87sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.87sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.87sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.87sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.88sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 9.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 9.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 9.07sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.07sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.07sWARNobjective_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. + 9.07sWARNobjective_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. + 9.07sWARNobjective_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. + 9.07sWARNobjective_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. + 9.07sWARNobjective_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 + 9.07sWARNobjective_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. + 9.07sWARNobjective_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 + 9.07sWARNobjective_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. + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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. + 9.08sWARNobjective_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. + 9.08sWARNobjective_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. + 9.08sWARNobjective_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. + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.13sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.13sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.16sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 9.16sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.16sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.17sINFOobjective_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 + 9.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.20sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.22sINFOros2_control_node[2026-10-13 19:08:44.884] [info] Controller state will be published at 20 Hz. ×2 + 9.22sINFOros2_control_node[2026-10-13 19:08:44.885] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.26sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 9.37sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.37sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.37sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410171 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410171 ms (missed cycles : 2).[0m ×2 + 9.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.52sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.52sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.52sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.52sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 9.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 9.56sINFOros2-24process has finished cleanly [pid 8115] ×2 + 9.59sINFOcomponent_container_mtLoaded robot model in 0.330412 seconds[0m ×2 + 9.59sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.59sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.60sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.60sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.60sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.60sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.61sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.61sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.98sINFOros2-15process has finished cleanly [pid 8106] ×2 + 9.98sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.98sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.98sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 9.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 10.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.11sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.11sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.11sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sINFOmove_groupMoveGroup debug mode is ON + 10.20sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 10.21sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 10.22sWARNros2_control_nodeCamera render tick took 1.02 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 + 10.25sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.25sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.25sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.25sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 10.26sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 10.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 10.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 10.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 10.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 10.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 10.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.36sINFOcomponent_container_mt[2026-10-13 19:08:46.022] [moveit_pro_license] [info] ×2 + 10.36sINFOcomponent_container_mt************************************************* ×4 + 10.36sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.36sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.38sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 10.38sINFOmove_group ×8 + 10.38sINFOmove_group****************************************************** ×4 + 10.38sINFOmove_group* MoveGroup using: ×2 + 10.38sINFOmove_group* - apply_planning_scene_service ×2 + 10.38sINFOmove_group* - clear_octomap_service ×2 + 10.38sINFOmove_group* - get_group_urdf ×2 + 10.38sINFOmove_group* - load_geometry_from_file ×2 + 10.38sINFOmove_group* - get_planning_scene_service ×2 + 10.38sINFOmove_group* - kinematics_service ×2 + 10.38sINFOmove_group* - save_geometry_to_file ×2 + 10.38sINFOmove_group* - GetPlanningGroups ×2 + 10.38sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.38sINFOmove_group[0m ×2 + 10.39sINFOmove_group[92mYou can start planning now![0m ×2 + 10.41sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718129 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718129 ms (missed cycles : 2).[0m ×2 + 10.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 10.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 10.52sINFOros2-20process has finished cleanly [pid 8111] ×2 + 10.53sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.53sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.54sINFOforce_torque_sensor_broadcasterconfigure successful + 10.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.56sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.56sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.76sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.76sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.79sWARNros2_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 + 10.85sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.85sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.85sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.85sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.85sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 10.85sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 10.88sINFOros2-14process has finished cleanly [pid 8105] ×2 + 10.88sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.91sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.91sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.91sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.91sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.92sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.94sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.94sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.25sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791918524.856 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.25sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.25sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.25sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.25sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 11.25sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 11.26sINFOros2-18process has finished cleanly [pid 8109] ×2 + 11.32sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.32sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.32sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.32sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.32sINFOplatform_velocity_controller_nav2configure successful + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886307 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886307 ms (missed cycles : 2).[0m ×2 + 11.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 11.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 11.67sINFOros2-19process has finished cleanly [pid 8110] ×2 + 11.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.72sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.72sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.72sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.73sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.73sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.73sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.73sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 12.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 12.07sINFOros2-16process has finished cleanly [pid 8107] ×2 + 12.09sINFOlocal_costmap.local_costmapstart + 12.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.19sWARNcontroller_serverParameter controller_server.verbose not found + 12.19sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.26sINFOamclParticle filter update iteration stats: 1714 particles 811 points - 39.489ms + 12.30sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.30sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.30sINFOsmoother_serverActivating + 12.30sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.41sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.41sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.41sINFOplanner_serverActivating + 12.41sINFOglobal_costmap.global_costmapActivating + 12.41sINFOglobal_costmap.global_costmapChecking transform + 12.41sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791918528.054502, but only time 1791918528.426303 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790160 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790160 ms (missed cycles : 2).[0m ×2 + 12.59sINFOros2_control_node[2026-10-13 19:08:48.250] [info] Controller state will be published at 20 Hz. ×2 + 12.59sINFOros2_control_node[2026-10-13 19:08:48.251] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.91sINFOglobal_costmap.global_costmapstart + 12.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.93sINFOros2-23process has finished cleanly [pid 8114] ×2 + 13.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 13.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 13.07sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.08sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.08sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.08sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.48sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791918528.364 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663026 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663026 ms (missed cycles : 2).[0m ×2 + 13.54sINFOros2_control_node[2026-10-13 19:08:49.200] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.54sINFOros2_control_node[2026-10-13 19:08:49.203] [info] Controller state will be published at 10 Hz. ×2 + 13.54sINFOros2_control_node[2026-10-13 19:08:49.204] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.90sINFOros2-22process has finished cleanly [pid 8113] ×2 + 13.90sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.90sINFOcontroller_managerLoading controller 'velocity_force_controller' + 13.90sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.90sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.90sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a + 13.90sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_haqjmd6m --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_4to18a64 --params-file /tmp/launch_params_1qx82m7a [0m ×2 + 13.96sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.96sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.97sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 13.97sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 13.97sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 14.06sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.06sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.07sINFObehavior_serverActivating + 14.07sINFObehavior_serverActivating spin + 14.07sINFObehavior_serverActivating backup + 14.07sINFObehavior_serverActivating drive_on_heading + 14.07sINFObehavior_serverActivating assisted_teleop + 14.07sINFObehavior_serverActivating wait + 14.07sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.17sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.17sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.17sINFObt_navigatorActivating + 14.25sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.36sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.36sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.36sINFOwaypoint_followerActivating + 14.36sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.46sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.47sINFOvelocity_smootherActivating + 14.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.48sINFOros2_control_node[2026-10-13 19:08:50.143] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.48sINFOros2_control_node[2026-10-13 19:08:50.145] [info] Controller state will be published at 10 Hz. ×2 + 14.48sINFOros2_control_node[2026-10-13 19:08:50.146] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273928 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273928 ms (missed cycles : 2).[0m ×2 + 14.57sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.57sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.57sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.84sINFOros2-21process has finished cleanly [pid 8112] ×2 + 15.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 15.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 15.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 15.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 15.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 15.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 15.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386979 ms (missed cycles : 4). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386979 ms (missed cycles : 4).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672287 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672287 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 17.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 20.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 20.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 20.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 20.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 20.87sINFOobjective_server_nodecaller: ×10 + 20.87sINFOobjective_server_nodetype: 0 ×10 + 20.87sINFOobjective_server_nodename: "" ×10 + 20.87sINFOobjective_server_nodeinstance_id: "" ×10 + 20.87sINFOobjective_server_node ×10 + 20.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 20.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 20.91sINFOmove_groupClearing octomap...[0m ×4 + 20.92sINFOmove_groupOctomap cleared.[0m ×4 + 20.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 20.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 20.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 21.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 21.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 22.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 22.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 22.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 22.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 22.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 22.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 23.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 23.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 23.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 23.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 23.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 23.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 23.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 23.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672287 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 3.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×15 + 3.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.09sINFOobjective_server_nodecaller: ×10 + 4.09sINFOobjective_server_nodetype: 0 ×10 + 4.09sINFOobjective_server_nodename: "" ×10 + 4.09sINFOobjective_server_nodeinstance_id: "" ×10 + 4.09sINFOobjective_server_node ×10 + 4.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.13sINFOmove_groupClearing octomap...[0m ×4 + 4.13sINFOmove_groupOctomap cleared.[0m ×4 + 4.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_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 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.5s	3 errors · 249 warnings · 278 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.528ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971046 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971046 ms (missed cycles : 3).[0m ×2 + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.001ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129261 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129261 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.352ms + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.417ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866138 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866138 ms (missed cycles : 5).[0m ×2 + 2.88sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 3.20sINFOobjective_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 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.20sERRORobjective_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: 1791918747.36679125 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_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 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOstate_estimatorReceived a set_pose request (stamp: 1791918747386084648, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687142 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687142 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.866ms + 3.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.80sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.80sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791918747.96943045 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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.709ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439865 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439865 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636073 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636073 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972216 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972216 ms (missed cycles : 5).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749229 ms (missed cycles : 3). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749229 ms (missed cycles : 3).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155174 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155174 ms (missed cycles : 4).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282516 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282516 ms (missed cycles : 2).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450623 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450623 ms (missed cycles : 3).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.646ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969511 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969511 ms (missed cycles : 3).[0m ×2 + 12.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.378ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103927 ms (missed cycles : 5). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103927 ms (missed cycles : 5).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.454ms + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.797ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498464 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498464 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.347ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380635 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380635 ms (missed cycles : 3).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.511ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794563 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794563 ms (missed cycles : 3).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.004ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.238ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250202 ms (missed cycles : 4). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250202 ms (missed cycles : 4).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.490ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.549ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283657 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283657 ms (missed cycles : 2).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.149ms + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.124ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173994 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173994 ms (missed cycles : 3).[0m ×2 + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.060ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.972ms + 20.22sWARNros2_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 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593863 ms (missed cycles : 4). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593863 ms (missed cycles : 4).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.107ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.695ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721164 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721164 ms (missed cycles : 2).[0m ×2 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.775ms + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.547ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388999 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388999 ms (missed cycles : 2).[0m ×2 + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.714ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.816ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429610 ms (missed cycles : 4). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429610 ms (missed cycles : 4).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.819ms + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.555ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158599 ms (missed cycles : 2). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158599 ms (missed cycles : 2).[0m ×2 + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.632ms + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.000ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537075 ms (missed cycles : 4). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537075 ms (missed cycles : 4).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.453ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.373ms + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896109 ms (missed cycles : 5). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896109 ms (missed cycles : 5).[0m ×2 + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.483ms + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431347 ms (missed cycles : 3). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431347 ms (missed cycles : 3).[0m ×2 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.720ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.851ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423220 ms (missed cycles : 2). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423220 ms (missed cycles : 2).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.859ms + 29.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.725ms + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749723 ms (missed cycles : 3). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749723 ms (missed cycles : 3).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.148ms + 30.45sWARNros2_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 + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.916ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828213 ms (missed cycles : 3). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828213 ms (missed cycles : 3).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.372ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433947 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433947 ms (missed cycles : 2).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.518ms + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377958 ms (missed cycles : 4). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377958 ms (missed cycles : 4).[0m ×2 + 33.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.902ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487595 ms (missed cycles : 3). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487595 ms (missed cycles : 3).[0m ×2 + 34.91sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.91sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800449 ms (missed cycles : 5). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800449 ms (missed cycles : 5).[0m ×2 + 35.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.150ms + 35.52sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957064 ms (missed cycles : 2). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957064 ms (missed cycles : 2).[0m ×2 + 36.53sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 36.85sWARNros2_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 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464070 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464070 ms (missed cycles : 2).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616948 ms (missed cycles : 3). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616948 ms (missed cycles : 3).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392243 ms (missed cycles : 2). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392243 ms (missed cycles : 2).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.169ms + 39.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.462ms + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772958 ms (missed cycles : 3). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772958 ms (missed cycles : 3).[0m ×2 + 40.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.548ms + 40.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.985ms + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894199 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894199 ms (missed cycles : 3).[0m ×2 + 42.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.254ms + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019884 ms (missed cycles : 2). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019884 ms (missed cycles : 2).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442670 ms (missed cycles : 4). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442670 ms (missed cycles : 4).[0m ×2 + 44.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.283ms + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671732 ms (missed cycles : 2). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671732 ms (missed cycles : 2).[0m ×2 + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439543 ms (missed cycles : 3). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439543 ms (missed cycles : 3).[0m ×2 + 46.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.154ms + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348869 ms (missed cycles : 4). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348869 ms (missed cycles : 4).[0m ×2 + 47.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.464ms + 47.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.350ms + 47.68sWARNros2_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 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968197 ms (missed cycles : 2). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968197 ms (missed cycles : 2).[0m ×2 + 48.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.970ms + 48.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.294ms + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515847 ms (missed cycles : 2). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515847 ms (missed cycles : 2).[0m ×2 + 49.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.637ms + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402506 ms (missed cycles : 4). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402506 ms (missed cycles : 4).[0m ×2 + 49.99sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 50.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.374ms + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601708 ms (missed cycles : 3). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601708 ms (missed cycles : 3).[0m ×2 + 52.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999106 ms (missed cycles : 2). + 52.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999106 ms (missed cycles : 2).[0m ×2 + 53.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616030 ms (missed cycles : 3). + 53.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616030 ms (missed cycles : 3).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558016 ms (missed cycles : 2). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558016 ms (missed cycles : 2).[0m ×2 + 54.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.642ms + 54.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.319ms + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938067 ms (missed cycles : 2). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938067 ms (missed cycles : 2).[0m ×2 + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.356ms + 55.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.931ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774736 ms (missed cycles : 3). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774736 ms (missed cycles : 3).[0m ×2 + 56.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 57.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296790 ms (missed cycles : 4). + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296790 ms (missed cycles : 4).[0m ×2 + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572961 ms (missed cycles : 3). + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572961 ms (missed cycles : 3).[0m ×2 + 58.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.946ms + 59.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961504 ms (missed cycles : 3). + 59.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961504 ms (missed cycles : 3).[0m ×2 + 60.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689949 ms (missed cycles : 3). + 60.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689949 ms (missed cycles : 3).[0m ×2 + 61.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.913ms + 61.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161468 ms (missed cycles : 4). + 61.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161468 ms (missed cycles : 4).[0m ×2 + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765986 ms (missed cycles : 2). + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765986 ms (missed cycles : 2).[0m ×2 + 63.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.459ms + 63.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399647 ms (missed cycles : 3). + 63.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399647 ms (missed cycles : 3).[0m ×2 + 64.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290034 ms (missed cycles : 2). + 64.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290034 ms (missed cycles : 2).[0m ×2 + 65.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.933ms + 65.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988498 ms (missed cycles : 3). + 65.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988498 ms (missed cycles : 3).[0m ×2 + 66.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.412ms + 66.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.491ms + 66.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803771 ms (missed cycles : 2). + 66.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803771 ms (missed cycles : 2).[0m ×2 + 67.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.509ms + 67.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.886ms + 67.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788683 ms (missed cycles : 2). + 67.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788683 ms (missed cycles : 2).[0m ×2 + 68.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.079ms + 68.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791918812.86961246 seconds ×3 + 68.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791918812891362577, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.89sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.89sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 69.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885456 ms (missed cycles : 3). + 69.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885456 ms (missed cycles : 3).[0m ×2 + 69.09sWARNlocal_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. ×5 + 69.09sWARNlocal_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. ×5 + 69.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.26sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791918813.46321559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.115ms + 69.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568175, y=-0.0171817, yaw=-0.0184014 + 70.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.102ms + 70.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787837 ms (missed cycles : 2). + 70.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787837 ms (missed cycles : 2).[0m ×2 + 71.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796750 ms (missed cycles : 2). + 71.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796750 ms (missed cycles : 2).[0m ×2 + 72.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 72.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	215 warnings · 212 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.24sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113973 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113973 ms (missed cycles : 4).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294035 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294035 ms (missed cycles : 2).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.801ms + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.508ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169709 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169709 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.505ms + 10.34sWARNros2_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 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831465 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831465 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.203ms + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.617ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628937 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628937 ms (missed cycles : 2).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.979ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395980 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395980 ms (missed cycles : 3).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.372ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480411 ms (missed cycles : 4). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480411 ms (missed cycles : 4).[0m ×2 + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.050ms + 14.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.200ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466556 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466556 ms (missed cycles : 4).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.939ms + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.441ms + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.957ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088926 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088926 ms (missed cycles : 2).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 17.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098022 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098022 ms (missed cycles : 2).[0m ×2 + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.303ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.143ms + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943851 ms (missed cycles : 3). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943851 ms (missed cycles : 3).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.249ms + 19.48sWARNros2_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 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.005ms + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791462 ms (missed cycles : 3). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791462 ms (missed cycles : 3).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.564ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.451ms + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534011 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534011 ms (missed cycles : 3).[0m ×2 + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.567ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.333ms + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157518 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157518 ms (missed cycles : 3).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.414ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.694ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069404 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069404 ms (missed cycles : 2).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.612ms + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.071ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689299 ms (missed cycles : 3). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689299 ms (missed cycles : 3).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.875ms + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.647ms + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363052 ms (missed cycles : 5). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363052 ms (missed cycles : 5).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.598ms + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.450ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812281 ms (missed cycles : 3). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812281 ms (missed cycles : 3).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.614ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896337 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896337 ms (missed cycles : 3).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.099ms + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.714ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903329 ms (missed cycles : 2). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903329 ms (missed cycles : 2).[0m ×2 + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.396ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.203ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888957 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888957 ms (missed cycles : 3).[0m ×2 + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.840ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.093ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575225 ms (missed cycles : 3). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575225 ms (missed cycles : 3).[0m ×2 + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.609ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.526ms + 31.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778915 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778915 ms (missed cycles : 3).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.615ms + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913284 ms (missed cycles : 3). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913284 ms (missed cycles : 3).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588955 ms (missed cycles : 5). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588955 ms (missed cycles : 5).[0m ×2 + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.285ms + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062468 ms (missed cycles : 2). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062468 ms (missed cycles : 2).[0m ×2 + 34.66sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449233 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449233 ms (missed cycles : 2).[0m ×2 + 36.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.497ms + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576802 ms (missed cycles : 4). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576802 ms (missed cycles : 4).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132273 ms (missed cycles : 5). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132273 ms (missed cycles : 5).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906873 ms (missed cycles : 3). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906873 ms (missed cycles : 3).[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686396 ms (missed cycles : 3). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686396 ms (missed cycles : 3).[0m ×2 + 40.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.798ms + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077047 ms (missed cycles : 2). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077047 ms (missed cycles : 2).[0m ×2 + 41.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.828ms + 42.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190761 ms (missed cycles : 2). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190761 ms (missed cycles : 2).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983857 ms (missed cycles : 4). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983857 ms (missed cycles : 4).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964275 ms (missed cycles : 3). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964275 ms (missed cycles : 3).[0m ×2 + 44.50sWARNros2_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 + 44.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772877 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772877 ms (missed cycles : 2).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201015 ms (missed cycles : 5). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201015 ms (missed cycles : 5).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615729 ms (missed cycles : 5). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615729 ms (missed cycles : 5).[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224319 ms (missed cycles : 3). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224319 ms (missed cycles : 3).[0m ×2 + 48.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.442ms + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132819 ms (missed cycles : 3). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132819 ms (missed cycles : 3).[0m ×2 + 50.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175739 ms (missed cycles : 2). + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175739 ms (missed cycles : 2).[0m ×2 + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500699 ms (missed cycles : 4). + 51.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500699 ms (missed cycles : 4).[0m ×2 + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.839ms + 52.32sWARNros2_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 + 52.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777307 ms (missed cycles : 3). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777307 ms (missed cycles : 3).[0m ×2 + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043285 ms (missed cycles : 2). + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043285 ms (missed cycles : 2).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273665 ms (missed cycles : 3). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273665 ms (missed cycles : 3).[0m ×2 + 55.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504688 ms (missed cycles : 6). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504688 ms (missed cycles : 6).[0m ×2 + 55.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.380ms + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400046 ms (missed cycles : 3). + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400046 ms (missed cycles : 3).[0m ×2 + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725902 ms (missed cycles : 3). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725902 ms (missed cycles : 3).[0m ×2 + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479476 ms (missed cycles : 3). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479476 ms (missed cycles : 3).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625540 ms (missed cycles : 3). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625540 ms (missed cycles : 3).[0m ×2 + 60.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791918876.75093699 seconds ×3 + 60.34sINFOstate_estimatorReceived a set_pose request (stamp: 1791918876772905182, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791918877.35590148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751054 ms (missed cycles : 2). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751054 ms (missed cycles : 2).[0m ×2 + 61.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.902ms + 61.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.12sINFOamclInitializing particles from estimated pose and covariance + 61.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568275, y=-0.0171817, yaw=-0.0184023 + 61.30sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 61.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.164ms + 61.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848905 ms (missed cycles : 2). + 62.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848905 ms (missed cycles : 2).[0m ×2 + 63.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619621 ms (missed cycles : 3). + 63.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619621 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	208 warnings · 230 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.747ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833148 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833148 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.174ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.676ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476355 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476355 ms (missed cycles : 4).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.807ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791918588.30191660 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_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: 1791918588317806623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587365 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587365 ms (missed cycles : 3).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.505ms + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 + 3.82sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791918588.89006662 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 + 3.88sINFOamclParticle filter update iteration stats: 1566 particles 811 points - 7.664ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.88sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568744, y=-0.0171805, yaw=-0.0184009 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.212ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611393 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611393 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213365 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213365 ms (missed cycles : 5).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588327 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588327 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819269 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819269 ms (missed cycles : 2).[0m ×2 + 8.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746236 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746236 ms (missed cycles : 2).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.348ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673730 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673730 ms (missed cycles : 2).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.532ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584282 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584282 ms (missed cycles : 3).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.138ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318353 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318353 ms (missed cycles : 2).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.682ms + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.551ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.130347 ms (missed cycles : 5). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.130347 ms (missed cycles : 5).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.266ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676210 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676210 ms (missed cycles : 2).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 14.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.088ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116599 ms (missed cycles : 4). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116599 ms (missed cycles : 4).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.356ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.137ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211708 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211708 ms (missed cycles : 2).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.983ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.151ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483469 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483469 ms (missed cycles : 2).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.962ms + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034991 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034991 ms (missed cycles : 3).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.431ms + 18.25sWARNros2_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 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.188ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813489 ms (missed cycles : 4). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813489 ms (missed cycles : 4).[0m ×2 + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.722ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.469ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872123 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872123 ms (missed cycles : 3).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.444ms + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.883ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404710 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404710 ms (missed cycles : 3).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.809ms + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.755ms + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566017 ms (missed cycles : 3). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566017 ms (missed cycles : 3).[0m ×2 + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.860ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.442ms + 23.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111970 ms (missed cycles : 2). + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111970 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.888ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.439ms + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554344 ms (missed cycles : 4). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554344 ms (missed cycles : 4).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.779ms + 25.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.679ms + 25.06sWARNros2_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 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780544 ms (missed cycles : 3). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780544 ms (missed cycles : 3).[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.659ms + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421316 ms (missed cycles : 4). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421316 ms (missed cycles : 4).[0m ×2 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.858ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.606ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554494 ms (missed cycles : 4). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554494 ms (missed cycles : 4).[0m ×2 + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.861ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.762ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817966 ms (missed cycles : 5). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817966 ms (missed cycles : 5).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.548ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247279 ms (missed cycles : 3). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247279 ms (missed cycles : 3).[0m ×2 + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.606ms + 30.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916610 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916610 ms (missed cycles : 2).[0m ×2 + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.145ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.324ms + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874064 ms (missed cycles : 2). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874064 ms (missed cycles : 2).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.128ms + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.148ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828160 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828160 ms (missed cycles : 2).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.381ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899241 ms (missed cycles : 2). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899241 ms (missed cycles : 2).[0m ×2 + 34.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.478ms + 34.90sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277173 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277173 ms (missed cycles : 3).[0m ×2 + 35.12sWARNros2_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 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603869 ms (missed cycles : 2). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603869 ms (missed cycles : 2).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820980 ms (missed cycles : 3). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820980 ms (missed cycles : 3).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929083 ms (missed cycles : 3). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929083 ms (missed cycles : 3).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863116 ms (missed cycles : 3). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863116 ms (missed cycles : 3).[0m ×2 + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738838 ms (missed cycles : 2). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738838 ms (missed cycles : 2).[0m ×2 + 41.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.347ms + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559494 ms (missed cycles : 3). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559494 ms (missed cycles : 3).[0m ×2 + 42.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.285ms + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572310 ms (missed cycles : 3). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572310 ms (missed cycles : 3).[0m ×2 + 43.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403679 ms (missed cycles : 3). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403679 ms (missed cycles : 3).[0m ×2 + 44.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342059 ms (missed cycles : 3). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342059 ms (missed cycles : 3).[0m ×2 + 45.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.262ms + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057439 ms (missed cycles : 5). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057439 ms (missed cycles : 5).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104009 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104009 ms (missed cycles : 2).[0m ×2 + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547255 ms (missed cycles : 3). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547255 ms (missed cycles : 3).[0m ×2 + 48.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.591ms + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285421 ms (missed cycles : 3). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285421 ms (missed cycles : 3).[0m ×2 + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104908 ms (missed cycles : 3). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104908 ms (missed cycles : 3).[0m ×2 + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913332 ms (missed cycles : 2). + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913332 ms (missed cycles : 2).[0m ×2 + 52.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.682ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033737 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033737 ms (missed cycles : 2).[0m ×2 + 53.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867135 ms (missed cycles : 4). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867135 ms (missed cycles : 4).[0m ×2 + 54.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693296 ms (missed cycles : 2). + 54.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693296 ms (missed cycles : 2).[0m ×2 + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609868 ms (missed cycles : 3). + 55.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609868 ms (missed cycles : 3).[0m ×2 + 55.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.891ms + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876601 ms (missed cycles : 2). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876601 ms (missed cycles : 2).[0m ×2 + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 57.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 58.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 59.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 60.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 60.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 60.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) 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: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.09sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.24sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 61.24sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 61.52sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 61.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 61.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 61.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 63.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 63.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.9s	211 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.425ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.040ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791918684.71134734 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791918684733226620, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2).[0m ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.574ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791918685.30698299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.07sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.15sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.063ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673691 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673691 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979891 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979891 ms (missed cycles : 3).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934534 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934534 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991576 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991576 ms (missed cycles : 2).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.341ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.728ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785181 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785181 ms (missed cycles : 2).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.565ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206476 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206476 ms (missed cycles : 2).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.238ms + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.503ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224412 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224412 ms (missed cycles : 4).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.650ms + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076766 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076766 ms (missed cycles : 2).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.311ms + 15.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.757ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386076 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386076 ms (missed cycles : 3).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941400 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941400 ms (missed cycles : 2).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.813ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.857ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098259 ms (missed cycles : 4). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098259 ms (missed cycles : 4).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.330ms + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.559ms + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.292ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727127 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727127 ms (missed cycles : 2).[0m ×2 + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.772ms + 20.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260949 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260949 ms (missed cycles : 3).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.132ms + 21.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755172 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755172 ms (missed cycles : 2).[0m ×2 + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.666ms + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.537ms + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925184 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925184 ms (missed cycles : 2).[0m ×2 + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.951ms + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.999ms + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782394 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782394 ms (missed cycles : 3).[0m ×2 + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.243ms + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.317ms + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.858ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934613 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934613 ms (missed cycles : 3).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.179ms + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.862ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546517 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546517 ms (missed cycles : 2).[0m ×2 + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.705ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.441ms + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849895 ms (missed cycles : 3). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849895 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.527ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.671ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788435 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788435 ms (missed cycles : 2).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.753ms + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.560ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667806 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667806 ms (missed cycles : 2).[0m ×2 + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.394ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.138ms + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280736 ms (missed cycles : 2). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280736 ms (missed cycles : 2).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.129ms + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.044ms + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961793 ms (missed cycles : 2). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961793 ms (missed cycles : 2).[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.507ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.338ms + 31.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.584ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982230 ms (missed cycles : 4). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982230 ms (missed cycles : 4).[0m ×2 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.740ms + 32.54sWARNros2_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 + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.882ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446110 ms (missed cycles : 3). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446110 ms (missed cycles : 3).[0m ×2 + 34.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.563ms + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857492 ms (missed cycles : 5). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857492 ms (missed cycles : 5).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604313 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604313 ms (missed cycles : 2).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681978 ms (missed cycles : 2). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681978 ms (missed cycles : 2).[0m ×2 + 36.53sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087282 ms (missed cycles : 3). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087282 ms (missed cycles : 3).[0m ×2 + 37.32sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.13sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265789 ms (missed cycles : 5). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265789 ms (missed cycles : 5).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074199 ms (missed cycles : 3). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074199 ms (missed cycles : 3).[0m ×2 + 40.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.605ms + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052043 ms (missed cycles : 3). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052043 ms (missed cycles : 3).[0m ×2 + 41.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.562ms + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706177 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706177 ms (missed cycles : 2).[0m ×2 + 41.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.040ms + 42.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.697ms + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.628ms + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831666 ms (missed cycles : 3). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831666 ms (missed cycles : 3).[0m ×2 + 43.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.253ms + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033446 ms (missed cycles : 5). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033446 ms (missed cycles : 5).[0m ×2 + 44.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.356ms + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336754 ms (missed cycles : 2). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336754 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017589 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017589 ms (missed cycles : 2).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.409ms + 46.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.329ms + 46.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.658ms + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363520 ms (missed cycles : 3). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363520 ms (missed cycles : 3).[0m ×2 + 47.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.852ms + 47.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628799 ms (missed cycles : 2). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628799 ms (missed cycles : 2).[0m ×2 + 48.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.733ms + 48.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.851ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918726 ms (missed cycles : 2). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918726 ms (missed cycles : 2).[0m ×2 + 49.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.200ms + 49.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.251ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775691 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775691 ms (missed cycles : 2).[0m ×2 + 50.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.777ms + 51.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990353 ms (missed cycles : 2). + 51.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990353 ms (missed cycles : 2).[0m ×2 + 52.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372245 ms (missed cycles : 3). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372245 ms (missed cycles : 3).[0m ×2 + 52.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 52.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.992ms + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556362 ms (missed cycles : 4). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556362 ms (missed cycles : 4).[0m ×2 + 53.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.712ms + 54.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755498 ms (missed cycles : 2). + 54.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755498 ms (missed cycles : 2).[0m ×2 + 54.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791918736.56713462 seconds ×3 + 54.91sINFOstate_estimatorReceived a set_pose request (stamp: 1791918736586613203, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 54.96sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.55) is out of map bounds (-3.10, 0.10) to (1.88, 5.08). The costmap cannot raytrace for it. + 54.96sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.08) is out of map bounds (-3.10, 0.10) to (1.88, 5.08). The costmap cannot raytrace for it. + 55.06sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.06sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251868 ms (missed cycles : 2). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251868 ms (missed cycles : 2).[0m ×2 + 55.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791918737.18391252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.76sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.708ms + 55.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568067, y=-0.0171823, yaw=-0.018403 + 55.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 56.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.084ms + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867207 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867207 ms (missed cycles : 2).[0m ×2 + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734391 ms (missed cycles : 2). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734391 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 426 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494077 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494077 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652517 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652517 ms (missed cycles : 3).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 1076 particles 811 points - 8.952ms + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506707 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506707 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118147 ms (missed cycles : 4). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118147 ms (missed cycles : 4).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121977 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121977 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136947 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136947 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764459 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764459 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776461 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776461 ms (missed cycles : 2).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865187 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865187 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388584 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388584 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802657 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802657 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100377 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100377 ms (missed cycles : 2).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194881 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194881 ms (missed cycles : 2).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814057 ms (missed cycles : 3). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814057 ms (missed cycles : 3).[0m ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097695 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097695 ms (missed cycles : 3).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762173 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762173 ms (missed cycles : 2).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634889 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634889 ms (missed cycles : 2).[0m ×2 + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.187ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494611 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494611 ms (missed cycles : 3).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707755 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707755 ms (missed cycles : 2).[0m ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845699 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845699 ms (missed cycles : 2).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826028 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826028 ms (missed cycles : 2).[0m ×2 + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903067 ms (missed cycles : 2). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903067 ms (missed cycles : 2).[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909002 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909002 ms (missed cycles : 2).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417706 ms (missed cycles : 3). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417706 ms (missed cycles : 3).[0m ×2 + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430909 ms (missed cycles : 4). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430909 ms (missed cycles : 4).[0m ×2 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660297 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660297 ms (missed cycles : 2).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211458 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211458 ms (missed cycles : 2).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641612 ms (missed cycles : 3). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641612 ms (missed cycles : 3).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312289 ms (missed cycles : 3). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312289 ms (missed cycles : 3).[0m ×2 + 38.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.063ms + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597556 ms (missed cycles : 3). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597556 ms (missed cycles : 3).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038464 ms (missed cycles : 4). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038464 ms (missed cycles : 4).[0m ×2 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769665 ms (missed cycles : 3). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769665 ms (missed cycles : 3).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316398 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316398 ms (missed cycles : 2).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494372 ms (missed cycles : 3). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494372 ms (missed cycles : 3).[0m ×2 + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5).[0m ×2 + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3).[0m ×2 + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4).[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: 1791918582.14093447 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 + 46.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.71sINFOstate_estimatorReceived a set_pose request (stamp: 1791918582163115213, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 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 + 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: 1791918582.73179197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 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=-0.0568539, y=-0.017181, yaw=-0.0184015 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2).[0m ×2 + 47.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.507ms + 48.39sINFOobjective_server_nodeFound path in 0 iterations (3.6708e-05 s). ×2 + 48.46sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 49.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3).[0m ×2 + 50.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	128 warnings · 195 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730737 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587331 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587331 ms (missed cycles : 4).[0m ×2 + 1.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.24sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791918651.99761438 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739083 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739083 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791918653.59120131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438397 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438397 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243711 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243711 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687337 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687337 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257788 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257788 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518505 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518505 ms (missed cycles : 3).[0m ×2 + 7.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.578ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854749 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854749 ms (missed cycles : 5).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.676ms + 9.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.787ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748215 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748215 ms (missed cycles : 2).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.808ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784514 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784514 ms (missed cycles : 2).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.368ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.310ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179582 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179582 ms (missed cycles : 3).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 11.90sWARNros2_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 + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.070ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128036 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128036 ms (missed cycles : 2).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.368ms + 13.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.250ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764363 ms (missed cycles : 4). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764363 ms (missed cycles : 4).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.665ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.123ms + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.338ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828194 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828194 ms (missed cycles : 2).[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.396ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.257ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677416 ms (missed cycles : 4). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677416 ms (missed cycles : 4).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.323ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.359ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419636 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419636 ms (missed cycles : 3).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.709ms + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.983ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156123 ms (missed cycles : 5). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156123 ms (missed cycles : 5).[0m ×2 + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.620ms + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.057ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.260ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140669 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140669 ms (missed cycles : 2).[0m ×2 + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.978ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.025ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752756 ms (missed cycles : 2). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752756 ms (missed cycles : 2).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.042ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.413ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745492 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745492 ms (missed cycles : 3).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.327ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.366ms + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209310 ms (missed cycles : 4). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209310 ms (missed cycles : 4).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.628ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.668ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068112 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068112 ms (missed cycles : 2).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.113ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.392ms + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852514 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852514 ms (missed cycles : 3).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.385ms + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.437ms + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239678 ms (missed cycles : 2). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239678 ms (missed cycles : 2).[0m ×2 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.431ms + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.686ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137271 ms (missed cycles : 4). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137271 ms (missed cycles : 4).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743636 ms (missed cycles : 2). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743636 ms (missed cycles : 2).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.003ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.709ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936812 ms (missed cycles : 5). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936812 ms (missed cycles : 5).[0m ×2 + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.680ms + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.228ms + 29.58sWARNros2_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 + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135420 ms (missed cycles : 2). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135420 ms (missed cycles : 2).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.616ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.200ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.425ms + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.040ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 33.95sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791918684.71134734 seconds ×3 + 33.99sINFOstate_estimatorReceived a set_pose request (stamp: 1791918684733226620, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2).[0m ×2 + 34.10sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 34.10sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.50sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.51sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.574ms + 34.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791918685.30698299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.99sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 35.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3).[0m ×2 + 36.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.10sINFOamclInitializing particles from estimated pose and covariance + 36.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 36.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.063ms + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	80 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725902 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725902 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479476 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479476 ms (missed cycles : 3).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625540 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625540 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791918876.75093699 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.52sINFOstate_estimatorReceived a set_pose request (stamp: 1791918876772905182, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791918877.35590148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751054 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751054 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.902ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.30sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568275, y=-0.0171817, yaw=-0.0184023 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.164ms + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848905 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848905 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619621 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619621 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847083 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847083 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669032 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669032 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735790 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735790 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041446 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041446 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.72sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 10.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044398 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044398 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodeFound path in 33 iterations (0.0327581 s). ×2 + 11.15sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816328 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816328 ms (missed cycles : 2).[0m ×2 + 11.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.98sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 12.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574291 ms (missed cycles : 4). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574291 ms (missed cycles : 4).[0m ×2 + 12.91sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.98sWARNros2_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 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726065 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726065 ms (missed cycles : 2).[0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056543 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056543 ms (missed cycles : 2).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.383ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240325 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240325 ms (missed cycles : 2).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3).[0m ×2 + 18.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918893.17702937 seconds ×3 + 18.95sINFOstate_estimatorReceived a set_pose request (stamp: 1791918893194509149, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2).[0m ×2 + 19.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918893.79973817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.55sINFOmove_groupClearing octomap...[0m ×2 + 19.55sINFOmove_groupOctomap cleared.[0m ×2 + 19.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.75sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 5.920ms + 19.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568174, y=-0.017182, yaw=-0.0184027 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2).[0m ×2 + 20.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918894.45987701 seconds ×3 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.202ms + 20.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918895.04519987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3).[0m ×2 + 21.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918895.83533335 seconds ×3 + 21.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247079 ms (missed cycles : 4).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	124 errors · 33 warnings · 584 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3).[0m ×2 + 1.96sINFOjoint_trajectory_controllerGoal reached, success! + 1.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918893.17702937 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791918893194509149, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918893.79973817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 5.920ms + 2.82sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.82sINFOamclInitializing particles from estimated pose and covariance + 2.82sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568174, y=-0.017182, yaw=-0.0184027 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918894.45987701 seconds ×3 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.202ms + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918895.04519987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918895.83533335 seconds ×3 + 4.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247079 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247079 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111163 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111163 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129949 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129949 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435665 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435665 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611133 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611133 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710294 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710294 ms (missed cycles : 4).[0m ×2 + 10.81sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.82sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORweb_video_auth_proxy-41process has died [pid 8179, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.82sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.87sERRORweb_bridge_auth_proxy-40process has died [pid 8178, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.87sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.88sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.89sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.90sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.91sINFOvideo_server-39process has finished cleanly [pid 8177] ×2 + 10.91sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.92sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.93sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.95sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.96sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.97sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.98sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.99sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 11.00sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 11.02sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 11.03sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 11.05sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.05sINFOcontroller_managerShutdown request received.... + 11.05sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.05sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.05sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.05sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.05sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.05sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.05sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.05sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.05sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.05sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.05sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.05sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.05sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.05sINFOcontroller_managerShutting down the controller manager. + 11.06sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.07sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.09sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.09sERRORmove_group-25process has died [pid 8160, 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_zcuyfl5v --params-file /tmp/launch_params_ldpp2dvy --params-file /tmp/launch_params_4plxkoz2 --params-file /tmp/launch_params_bino49bs --params-file /tmp/launch_params_k0pny39x --params-file /tmp/launch_params_2lgettzt']. ×2 + 11.10sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.12sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.13sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.14sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.16sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.17sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.19sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.20sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.20sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.20sINFOmap_serverDeactivating + 11.20sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.21sINFOmap_serverCleaning up + 11.21sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.21sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.21sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.21sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.21sINFOcontroller_serverDeactivating + 11.21sINFOlocal_costmap.local_costmapDeactivating + 11.21sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 11.21sINFOvideo_server2026/10/13 19:15:02 INF shutting down gracefully ×2 + 11.21sINFOvideo_server2026/10/13 19:15:02 INF [WebRTC] closing ×2 + 11.21sINFOvideo_server2026/10/13 19:15:02 INF [RTSP] closing ×2 + 11.21sINFOvideo_server2026/10/13 19:15:02 INF waiting for running hooks ×2 + 11.21sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.22sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.22sERRORmove_groupStack trace (most recent call last) in thread 8833: ×2 + 11.22sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.22sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f6859cc3, in __clone ×2 + 11.22sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f67ccb83, in ×2 + 11.22sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2f6a5ddb3, in ×2 + 11.22sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7ff2f71c7064, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.22sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff2f6df1620, in rclcpp::Rate::sleep() ×2 + 11.22sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff2f6d33d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.22sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff2f6cf5087, in ×2 + 11.22sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2f6a2c390, in __cxa_throw ×2 + 11.22sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2f6a16a54, in std::terminate() ×2 + 11.22sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2f6a2c0d9, in ×2 + 11.22sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2f6a16ff4, in ×2 + 11.22sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f67588fe, in abort ×2 + 11.22sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f677527d, in raise ×2 + 11.22sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f67cec0c, in pthread_kill ×2 + 11.22sERRORmove_groupAborted (Signal sent by tkill() 8160 0) ×2 + 11.22sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.22sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.22sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.22sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.22sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.22sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.22sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.22sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.22sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.22sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.22sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.22sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.23sERRORamclThe bond connection to the lifecycle manager has been broken + 11.26sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.27sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.27sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.28sINFOcontroller_serverCleaning up + 11.28sINFOlocal_costmap.local_costmapCleaning up + 11.32sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.32sINFOsmoother_serverDeactivating + 11.32sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.33sINFOsmoother_serverCleaning up + 11.35sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.35sINFOplanner_serverDeactivating + 11.35sINFOglobal_costmap.global_costmapDeactivating + 11.38sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.38sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.39sINFOplanner_serverCleaning up + 11.41sINFOglobal_costmap.global_costmapCleaning up + 11.42sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.42sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.45sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.45sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.45sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.45sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.45sINFOvelocity_smootherDeactivating + 11.45sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.45sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.45sINFObehavior_serverDeactivating + 11.45sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.46sINFObehavior_serverCleaning up + 11.47sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.47sINFObt_navigatorDeactivating + 11.47sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.48sINFObt_navigatorCleaning up + 11.56sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.56sINFOwaypoint_followerDeactivating + 11.56sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.64sINFObt_navigatorCompleted Cleaning up + 11.64sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.64sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.64sINFOvelocity_smootherCleaning up + 11.64sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.67sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.69sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.69sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.69sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.69sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.70sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.70sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.70sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.70sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.70sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.70sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.70sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.70sINFOwaypoint_followerCleaning up + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.73sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.73sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.73sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.73sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.73sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.93sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.93sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.93sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.94sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.94sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.94sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.94sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.94sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.94sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.94sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.94sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.94sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.94sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.94sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.94sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.94sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.94sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.94sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.94sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.95sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8174] ×2 + 11.95sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.95sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.95sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.95sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.95sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.95sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.95sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.95sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.95sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.95sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.95sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.95sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.95sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.95sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.95sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.95sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.95sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.95sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.95sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.95sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.95sINFOtf_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 + 12.00sERRORjoint_state_visualization_relay-37process has died [pid 8173, 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_7_ww7x3f']. ×2 + 12.00sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 12.01sERRORtf_visualization_relay-36process has died [pid 8171, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_gmx7bo_b']. ×2 + 12.01sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 12.03sERRORcomponent_container_isolated-1process has died [pid 7989, 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_ws3p891c --params-file /tmp/launch_params_bhf51kbr -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.05sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8164] ×2 + 12.06sINFOui_teleop_bridge-34process has finished cleanly [pid 8169] ×2 + 12.06sINFOexecute_objective_bridge-33process has finished cleanly [pid 8168] ×2 + 12.07sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8163] ×2 + 12.10sINFOparameter_manager_node-26process has finished cleanly [pid 8161] ×2 + 12.12sINFOwaypoint_manager_node-27process has finished cleanly [pid 8162] ×2 + 12.13sINFOrelay-11process has finished cleanly [pid 8102] ×2 + 12.14sINFOrelay-10process has finished cleanly [pid 8101] ×2 + 12.15sINFOcomponent_container_mt-32process has finished cleanly [pid 8167] ×2 + 12.15sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7997] ×2 + 12.16sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8103] ×2 + 12.17sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7996] ×2 + 12.17sINFOstatic_transform_publisher-7process has finished cleanly [pid 7995] ×2 + 12.18sINFOobjective_server_node[2026-10-13 19:15:03.368] [moveit_pro_license] [critical] ×2 + 12.18sINFOobjective_server_node************************************************* ×4 + 12.18sINFOobjective_server_node* MoveIt Pro License ×2 + 12.18sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.19sINFOstatic_transform_publisher-6process has finished cleanly [pid 7994] ×2 + 12.20sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.20sINFOlidar_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 + 12.20sINFOlidar_flattener.pymain() ×2 + 12.20sINFOlidar_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 + 12.20sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.20sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.20sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.20sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.20sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.20sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.20sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.20sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.20sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.23sINFOstatic_transform_publisher-3process has finished cleanly [pid 7991] ×2 + 12.24sERRORlidar_flattener.py-5process has died [pid 7993, 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_sj62qif4']. ×2 + 12.25sINFOobjective_server_node_main-30process has finished cleanly [pid 8165] ×2 + 12.25sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.56sERRORcomponent_container_isolated-2process has died [pid 7990, 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_ws3p891c --params-file /tmp/launch_params_f6k9tdyu -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.19sINFOcomponent_container_mt-31process has finished cleanly [pid 8166] ×2 + 13.21sINFOodom_world_drift-4process has finished cleanly [pid 7992] ×2 + 13.78sINFOros2_control_node-13process has finished cleanly [pid 8104] ×2 + 13.95sINFOweb_bridge-35process has finished cleanly [pid 8170] ×2 + 13.95sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 81 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372245 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372245 ms (missed cycles : 3).[0m ×2 + 0.01sWARNros2_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 + 0.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.992ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556362 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556362 ms (missed cycles : 4).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.712ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755498 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755498 ms (missed cycles : 2).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791918736.56713462 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOstate_estimatorReceived a set_pose request (stamp: 1791918736586613203, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.55) is out of map bounds (-3.10, 0.10) to (1.88, 5.08). The costmap cannot raytrace for it. + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.08) is out of map bounds (-3.10, 0.10) to (1.88, 5.08). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251868 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251868 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791918737.18391252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.708ms + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.47sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568067, y=-0.0171823, yaw=-0.018403 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.084ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867207 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867207 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734391 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734391 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191916 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191916 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3).[0m ×2 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111887 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111887 ms (missed cycles : 2).[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380249 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380249 ms (missed cycles : 3).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.528ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971046 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971046 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.001ms + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129261 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129261 ms (missed cycles : 3).[0m ×2 + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.352ms + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.417ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866138 ms (missed cycles : 5). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866138 ms (missed cycles : 5).[0m ×2 + 13.05sWARNros2_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 + 13.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.37sINFOjoint_trajectory_controllerGot request to cancel goal + 13.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.37sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.37sERRORobjective_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: 1791918747.36679125 seconds ×3 + 13.42sINFOstate_estimatorReceived a set_pose request (stamp: 1791918747386084648, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 13.56sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.56sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687142 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687142 ms (missed cycles : 3).[0m ×2 + 13.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.92sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.866ms + 13.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 13.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791918747.96943045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.709ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439865 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439865 ms (missed cycles : 3).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636073 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636073 ms (missed cycles : 3).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972216 ms (missed cycles : 5). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972216 ms (missed cycles : 5).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	54 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 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 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_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 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005328 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005328 ms (missed cycles : 4).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730737 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730737 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587331 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587331 ms (missed cycles : 4).[0m ×2 + 9.62sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791918651.99761438 seconds ×3 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739083 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739083 ms (missed cycles : 2).[0m ×2 + 11.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.17sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.21sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791918653.59120131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438397 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438397 ms (missed cycles : 3).[0m ×2 + 11.61sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243711 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243711 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687337 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687337 ms (missed cycles : 2).[0m ×2 + 13.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	56 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988498 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988498 ms (missed cycles : 3).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.412ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.491ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803771 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803771 ms (missed cycles : 2).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.509ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.886ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788683 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788683 ms (missed cycles : 2).[0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.079ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791918812.86961246 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOstate_estimatorReceived a set_pose request (stamp: 1791918812891362577, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885456 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885456 ms (missed cycles : 3).[0m ×2 + 3.21sWARNlocal_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. ×5 + 3.21sWARNlocal_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. ×5 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791918813.46321559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.115ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568175, y=-0.0171817, yaw=-0.0184014 + 3.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.102ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787837 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787837 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796750 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796750 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 9.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.94sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 9.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 12.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	42 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791918582.14093447 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOros2_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 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918582163115213, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791918582.73179197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.93sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.507ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.6708e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2).[0m ×2 + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms + 7.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.747ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833148 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833148 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.174ms + 8.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.676ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476355 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476355 ms (missed cycles : 4).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.807ms + 9.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791918588.30191660 seconds ×3 + 9.39sINFOstate_estimatorReceived a set_pose request (stamp: 1791918588317806623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587365 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587365 ms (missed cycles : 3).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.505ms + 9.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.95sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 9.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791918588.89006662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sINFOamclParticle filter update iteration stats: 1566 particles 811 points - 7.664ms + 10.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568744, y=-0.0171805, yaw=-0.0184009 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.212ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611393 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611393 ms (missed cycles : 4).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213365 ms (missed cycles : 5). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213365 ms (missed cycles : 5).[0m ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588327 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588327 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 128 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240325 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240325 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918893.17702937 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791918893194509149, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2).[0m ×2 + 3.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918893.79973817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 5.920ms + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.84sINFOamclInitializing particles from estimated pose and covariance + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568174, y=-0.017182, yaw=-0.0184027 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918894.45987701 seconds ×3 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.202ms + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918895.04519987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918895.83533335 seconds ×3 + 5.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247079 ms (missed cycles : 4). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247079 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111163 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111163 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494077 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494077 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791918582.14093447 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918582163115213, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791918582.73179197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.93sINFOamclInitializing particles from estimated pose and covariance + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.507ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.6708e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2).[0m ×2 + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599392 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463791 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791918582.14093447 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918582163115213, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791918582.73179197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.93sINFOamclInitializing particles from estimated pose and covariance + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328049 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.507ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.6708e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506603 ms (missed cycles : 2).[0m ×2 + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms
− skipped	Close Gripper	close_gripper.xml	0.0s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	24 warnings · 86 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582140 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.747ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833148 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833148 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.174ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.676ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476355 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476355 ms (missed cycles : 4).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.807ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791918588.30191660 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOstate_estimatorReceived a set_pose request (stamp: 1791918588317806623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587365 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587365 ms (missed cycles : 3).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.505ms + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.82sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791918588.89006662 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 ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOamclParticle filter update iteration stats: 1566 particles 811 points - 7.664ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568744, y=-0.0171805, yaw=-0.0184009 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.212ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611393 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611393 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213365 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213365 ms (missed cycles : 5).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588327 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588327 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 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	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	33 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165345 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533211 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447912 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3). + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768884 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791918645.59018898 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791918645613177073, 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 ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.98, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791918646.20745945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.346ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914595 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.367ms + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675021 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717084 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	33 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.425ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.040ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791918684.71134734 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791918684733226620, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2).[0m ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.574ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791918685.30698299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.07sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.15sINFOamclInitializing particles from estimated pose and covariance + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.063ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	33 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.425ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.040ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791918684.71134734 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791918684733226620, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2).[0m ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.574ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791918685.30698299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.07sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.15sINFOamclInitializing particles from estimated pose and covariance + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.063ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	33 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206755 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.425ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029613 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.040ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850792 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791918684.71134734 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791918684733226620, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996066 ms (missed cycles : 2).[0m ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.574ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791918685.30698299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.07sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834310 ms (missed cycles : 4).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597933 ms (missed cycles : 3).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.15sINFOamclInitializing particles from estimated pose and covariance + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.063ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798237 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742299 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037180 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918819.38336349 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729485 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.54sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918819.98080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062198 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987010 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677082 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 128 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240325 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240325 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093504 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104739 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918893.17702937 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791918893194509149, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009312 ms (missed cycles : 2).[0m ×2 + 3.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918893.79973817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 5.920ms + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.84sINFOamclInitializing particles from estimated pose and covariance + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568174, y=-0.017182, yaw=-0.0184027 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143641 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918894.45987701 seconds ×3 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.202ms + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918895.04519987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116915 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918895.83533335 seconds ×3 + 5.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247079 ms (missed cycles : 4).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.99sINFOobjective_server_nodecaller: ×10 + 1.99sINFOobjective_server_nodetype: 0 ×10 + 1.99sINFOobjective_server_nodename: "" ×10 + 1.99sINFOobjective_server_nodeinstance_id: "" ×10 + 1.99sINFOobjective_server_node ×10 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.03sINFOmove_groupClearing octomap...[0m ×4 + 2.03sINFOmove_groupOctomap cleared.[0m ×4 + 2.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.98sINFOjoint_trajectory_controllerAccepted new action goal + 5.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	23 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.00sINFOjoint_trajectory_controllerReceived new action goal + 7.00sINFOjoint_trajectory_controllerAccepted new action goal + 7.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.00sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	20 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	23 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037866 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.01sINFOobjective_server_nodecaller: ×10 + 3.01sINFOobjective_server_nodetype: 0 ×10 + 3.01sINFOobjective_server_nodename: "" ×10 + 3.01sINFOobjective_server_nodeinstance_id: "" ×10 + 3.01sINFOobjective_server_node ×10 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.05sINFOmove_groupClearing octomap...[0m ×4 + 3.05sINFOmove_groupOctomap cleared.[0m ×4 + 3.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_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 7.147095 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147095 ms (missed cycles : 5).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.99sINFOobjective_server_nodecaller: ×10 + 1.99sINFOobjective_server_nodetype: 0 ×10 + 1.99sINFOobjective_server_nodename: "" ×10 + 1.99sINFOobjective_server_nodeinstance_id: "" ×10 + 1.99sINFOobjective_server_node ×10 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.03sINFOmove_groupClearing octomap...[0m ×4 + 2.03sINFOmove_groupOctomap cleared.[0m ×4 + 2.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.98sINFOjoint_trajectory_controllerAccepted new action goal + 5.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494077 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494077 ms (missed cycles : 2).[0m ×2

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

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225766 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791918536.57617879 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 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791918536.58638072 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967954 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791918537.17298484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791918537.18310332 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287920 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791918537.76306224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791918537.91372275 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 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791918538.52272582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791918538.58284974 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721982 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791918539.16453266 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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182340 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957813 ms (missed cycles : 2).[0m ×2