MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.0s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	23.2s	6 errors · 318 warnings · 1789 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/2026-10-25-06-32-49-137281-35ccb3cd989e-7992 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.27sINFOstatic_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' + 4.27sINFOstatic_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' + 4.28sINFOstatic_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' + 4.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.37sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.37sINFOmap_serverCreating + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.40sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.45sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.45sINFOcontroller_serverCreating controller server + 4.45sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.45sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.48sINFOlifecycle_manager_localizationCreating + 4.48sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.49sINFOlocal_costmap.local_costmapCreating Costmap + 4.49sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.51sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.51sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.51sINFOmap_serverConfiguring + 4.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.53sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.55sINFOsmoother_serverCreating smoother server + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.57sINFOros2_control_node-13process started with pid [8157] ×2 + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.57sINFOmove_group-25process started with pid [8220] ×2 + 4.57sINFOparameter_manager_node-26process started with pid [8221] ×2 + 4.57sINFOwaypoint_manager_node-27process started with pid [8222] ×2 + 4.57sINFOmove_joint_resampler_node-28process started with pid [8223] ×2 + 4.57sINFOmove_end_effector_resampler_node-29process started with pid [8224] ×2 + 4.57sINFOobjective_server_node_main-30process started with pid [8225] ×2 + 4.58sINFOcomponent_container_mt-31process started with pid [8226] ×2 + 4.58sINFOcomponent_container_mt-32process started with pid [8227] ×2 + 4.58sINFOexecute_objective_bridge-33process started with pid [8228] ×2 + 4.58sINFOui_teleop_bridge-34process started with pid [8231] ×2 + 4.58sINFOweb_bridge-35process started with pid [8232] ×2 + 4.58sINFOtf_visualization_relay-36process started with pid [8233] ×2 + 4.58sINFOjoint_state_visualization_relay-37process started with pid [8234] ×2 + 4.58sINFOtf2_web_republisher_node-38process started with pid [8235] ×2 + 4.58sINFOvideo_server-39process started with pid [8237] ×2 + 4.58sINFOweb_bridge_auth_proxy-40process started with pid [8241] ×2 + 4.58sINFOweb_video_auth_proxy-41process started with pid [8242] ×2 + 4.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.59sINFOcomponent_container_isolated-1process started with pid [8042] ×2 + 4.59sINFOcomponent_container_isolated-2process started with pid [8043] ×2 + 4.59sINFOstatic_transform_publisher-3process started with pid [8044] ×2 + 4.59sINFOodom_world_drift-4process started with pid [8045] ×2 + 4.59sINFOlidar_flattener.py-5process started with pid [8046] ×2 + 4.59sINFOstatic_transform_publisher-6process started with pid [8047] ×2 + 4.59sINFOstatic_transform_publisher-7process started with pid [8048] ×2 + 4.59sINFOscan_to_scan_filter_chain-8process started with pid [8049] ×2 + 4.59sINFOscan_to_scan_filter_chain-9process started with pid [8050] ×2 + 4.59sINFOrelay-10process started with pid [8154] ×2 + 4.59sINFOrelay-11process started with pid [8155] ×2 + 4.59sINFOfixed_lag_smoother_node-12process started with pid [8156] ×2 + 4.59sINFOros2-14process started with pid [8158] ×2 + 4.59sINFOros2-15process started with pid [8159] ×2 + 4.59sINFOros2-16process started with pid [8160] ×2 + 4.59sINFOros2-17process started with pid [8161] ×2 + 4.59sINFOros2-18process started with pid [8162] ×2 + 4.59sINFOros2-19process started with pid [8163] ×2 + 4.59sINFOros2-20process started with pid [8164] ×2 + 4.59sINFOros2-21process started with pid [8165] ×2 + 4.59sINFOros2-22process started with pid [8166] ×2 + 4.59sINFOros2-23process started with pid [8167] ×2 + 4.59sINFOros2-24process started with pid [8183] ×2 + 4.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.62sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.62sINFOstate_estimatorReceived a set_pose request (stamp: 1792909975512803347, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.63sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.63sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.63sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.63sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.63sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.63sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.63sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.63sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.64sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.64sINFOamclConfiguring + 4.64sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.64sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.64sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.64sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.64sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.64sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.64sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.64sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.65sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.65sWARNros2_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 + 4.65sINFOmap_serverActivating + 4.65sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.66sINFOplanner_serverCreating + 4.71sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.72sINFOglobal_costmap.global_costmapCreating Costmap + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.76sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.76sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.77sINFOamclActivating + 4.77sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.77sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.77sINFOamclSubscribed to map_topic: /map + 4.77sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.78sINFOamclCreated reinitialize_global_localization service + 4.78sINFOamclCreated request_nomotion_update service + 4.78sINFObehavior_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. + 4.80sINFOamclA new map was received + 4.80sINFOamclInitializing particle filter instance + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.87sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.88sINFOvideo_server2026/10/25 06:32:55 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.88sINFOvideo_server2026/10/25 06:32:55 INF configuration loaded from /tmp/moveit-webrtc-9m7jjt0v/mediamtx.yml ×2 + 4.88sINFOvideo_server2026/10/25 06:32:55 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.88sINFOvideo_server2026/10/25 06:32:55 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.88sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.88sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.88sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.90sINFObt_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. + 4.92sINFObt_navigatorCreating + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046466 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046466 ms (missed cycles : 2).[0m ×2 + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.95sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.95sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.97sINFOwaypoint_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. + 4.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.98sINFOwaypoint_followerCreating + 4.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.03sINFOvelocity_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. + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.06sINFOcontroller_managerReceived robot description from topic. + 5.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.06sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.06sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.06sINFOrobot_state_publisherRobot initialized + 5.06sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.07sINFOlifecycle_manager_navigationCreating + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.09sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.09sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.11sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.17sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.17sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.17sINFOcontroller_serverConfiguring controller interface + 5.17sINFOcontroller_servergetting progress checker plugins.. + 5.17sINFOcontroller_servergetting goal checker plugins.. + 5.17sINFOcontroller_serverController frequency set to 20.0000Hz + 5.17sINFOlocal_costmap.local_costmapConfiguring + 5.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.18sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.20sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.26sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.26sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.27sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.28sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.29sWARNlaser_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. + 5.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.29sWARNscan_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 + 5.29sWARNlaser_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. + 5.32sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.32sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.34sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.38sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.42sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.44sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.44sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.46sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.46sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.46sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.46sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.47sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.49sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.49sINFOamclParticle filter initialization completed + 5.49sINFOamclInitializing particles from estimated pose and covariance + 5.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.51sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.52sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.52sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.53sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.53sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.53sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.387061 seconds + 5.53sINFOmove_groupLoaded robot model in 0.387061 seconds[0m ×2 + 5.53sINFOcontroller_serverOptimizer reset ×2 + 5.53sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.53sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.53sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.53sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.56sINFOcontroller_serverController Server has FollowPath controllers available. + 5.58sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.58sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.58sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.58sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.58sINFOsmoother_serverConfiguring smoother server + 5.60sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.61sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.61sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.62sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.63sINFOplanner_serverConfiguring + 5.63sINFOglobal_costmap.global_costmapConfiguring + 5.64sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.65sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.65sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.65sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.66sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.71sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.71sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.72sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.75sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.76sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.76sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.76sINFOplanner_serverPlanner Server has GridBased planners available. + 5.79sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.79sINFObehavior_serverConfiguring + 5.82sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.83sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.83sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.84sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.85sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.85sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.85sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.86sINFObehavior_serverConfiguring spin + 5.89sINFObehavior_serverConfiguring backup + 5.90sINFObehavior_serverConfiguring drive_on_heading + 5.92sINFObehavior_serverConfiguring assisted_teleop + 5.94sINFObehavior_serverConfiguring wait + 5.95sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.96sINFObt_navigatorConfiguring + 6.00sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.03sWARNbt_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 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921390 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921390 ms (missed cycles : 3).[0m ×2 + 6.22sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.40sINFOwaypoint_followerConfiguring + 6.45sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.46sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.46sINFOvelocity_smootherConfiguring velocity smoother + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.48sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.48sINFOcontroller_serverActivating + 6.48sINFOlocal_costmap.local_costmapActivating + 6.48sINFOlocal_costmap.local_costmapChecking transform + 6.48sINFOlocal_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 ×6 + 6.68sINFOwaypoint_manager_nodeLoaded robot model in 0.392916 seconds[0m ×2 + 6.68sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.68sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.71sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.71sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.71sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.71sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.75sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 6.75sINFOros2_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 + 6.76sINFOmove_group[2026-10-25 06:32:57.649] [moveit_pro_license] [info] ×2 + 6.76sINFOmove_group************************************************* ×4 + 6.76sINFOmove_group* MoveIt Pro License ×2 + 6.76sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.84sINFOweb_bridge_auth_proxy2026-10-25 06:32:57,732 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.85sINFOweb_bridge_auth_proxy2026-10-25 06:32:57,735 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.85sINFOweb_video_auth_proxy2026-10-25 06:32:57,740 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.17sWARNwaypoint_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. + 7.17sWARNwaypoint_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. + 7.17sWARNwaypoint_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 + 7.18sWARNwaypoint_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 + 7.18sWARNwaypoint_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. + 7.18sWARNwaypoint_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 + 7.18sWARNwaypoint_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. + 7.18sWARNwaypoint_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 + 7.18sWARNwaypoint_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. + 7.19sWARNwaypoint_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 + 7.19sWARNwaypoint_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. + 7.19sWARNwaypoint_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 + 7.19sWARNwaypoint_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. + 7.19sWARNwaypoint_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. + 7.19sWARNwaypoint_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 + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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. + 7.20sWARNwaypoint_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. + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.24sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.24sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.25sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.25sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.25sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.25sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.25sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.26sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.26sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.26sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.26sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.26sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.27sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.54sINFOwaypoint_manager_node[2026-10-25 06:32:58.424] [moveit_pro_license] [info] ×2 + 7.54sINFOwaypoint_manager_node************************************************* ×4 + 7.54sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.54sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.64sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.64sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.64sINFOros2_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 + 7.64sWARNros2_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 + 7.64sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.64sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.64sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.64sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.64sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.64sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.64sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.64sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.64sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.65sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.65sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.65sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.65sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.65sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.65sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.65sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.65sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.65sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.65sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.65sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.65sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.65sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.65sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.65sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.65sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.65sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830382 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830382 ms (missed cycles : 2).[0m ×2 + 7.69sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.69sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.86sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.86sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.86sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.86sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.87sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.87sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 7.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 7.91sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.91sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.91sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.91sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.92sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.92sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.92sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.92sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.92sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.92sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.93sINFOros2_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 + 7.93sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.93sWARNros2_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 + 7.93sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.93sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.93sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.93sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.01sINFOobjective_server_node[2026-10-25 06:32:58.901] [moveit_pro_license] [info] ×2 + 8.01sINFOobjective_server_node************************************************* ×4 + 8.01sINFOobjective_server_node* MoveIt Pro License ×2 + 8.01sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.10sINFOobjective_server_nodeLoaded robot model in 0.0364815 seconds[0m ×2 + 8.10sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.10sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.13sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.17sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.18sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.18sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.18sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.18sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.18sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.18sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.20sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.20sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.20sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.20sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.20sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.20sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.23sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.23sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.23sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.24sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 8.24sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 8.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.33sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.34sINFOros2-18process has finished cleanly [pid 8162] ×2 + 8.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.43sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.45sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.45sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.46sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.62sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.63sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.63sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.63sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.63sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.63sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.63sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.68sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.68sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.69sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 8.69sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686847 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686847 ms (missed cycles : 2).[0m ×2 + 8.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.69sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.74sINFOros2-16process has finished cleanly [pid 8160] ×2 + 8.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.75sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.75sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.78sINFOcomponent_container_mtLoaded robot model in 0.444517 seconds[0m ×2 + 8.78sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.78sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.80sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.86sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.87sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.87sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.87sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.87sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.12sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.14sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.14sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.15sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 9.15sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 9.19sINFOros2-20process has finished cleanly [pid 8164] ×2 + 9.19sINFOmove_groupMoveGroup debug mode is ON + 9.19sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.21sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sINFOplatform_velocity_controllerconfigure successful + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sINFOros2_control_nodeconfigure successful[0m ×6 + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.38sINFOmove_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 ****************************************************** + 9.38sINFOmove_group ×8 + 9.38sINFOmove_group****************************************************** ×4 + 9.38sINFOmove_group* MoveGroup using: ×2 + 9.38sINFOmove_group* - apply_planning_scene_service ×2 + 9.38sINFOmove_group* - clear_octomap_service ×2 + 9.38sINFOmove_group* - get_group_urdf ×2 + 9.38sINFOmove_group* - load_geometry_from_file ×2 + 9.38sINFOmove_group* - get_planning_scene_service ×2 + 9.38sINFOmove_group* - kinematics_service ×2 + 9.38sINFOmove_group* - save_geometry_to_file ×2 + 9.38sINFOmove_group* - GetPlanningGroups ×2 + 9.38sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.38sINFOmove_group[0m ×2 + 9.38sINFOmove_group[92mYou can start planning now![0m ×2 + 9.48sINFOlocal_costmap.local_costmapstart + 9.57sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.57sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.57sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.57sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.58sINFOcomponent_container_mt[2026-10-25 06:33:00.467] [moveit_pro_license] [info] ×2 + 9.58sINFOcomponent_container_mt************************************************* ×4 + 9.58sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.58sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.59sINFOros2-17process has finished cleanly [pid 8161] ×2 + 9.64sWARNcontroller_serverParameter controller_server.verbose not found + 9.64sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.69sWARNros2_control_nodeCamera render tick took 0.82 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 + 9.69sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.69sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.69sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.69sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.70sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 9.70sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568177 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568177 ms (missed cycles : 3).[0m ×2 + 9.75sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.75sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.75sINFOsmoother_serverActivating + 9.75sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.76sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.76sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.76sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.76sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.77sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.85sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.85sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.85sINFOplanner_serverActivating + 9.85sINFOglobal_costmap.global_costmapActivating + 9.85sINFOglobal_costmap.global_costmapChecking transform + 9.85sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 9.99sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792909979.753 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.00sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.00sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.07sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 32.287ms + 10.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.20sINFOros2_control_node[2026-10-25 06:33:01.089] [info] Controller state will be published at 20 Hz. ×2 + 10.20sINFOros2_control_node[2026-10-25 06:33:01.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.35sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1792909981.202403, but only time 1792909981.575472 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 10.52sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.52sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.52sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.52sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.55sINFOros2-24process has finished cleanly [pid 8183] ×2 + 10.60sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 10.60sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 10.66sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.66sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.66sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.69sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792909979.753 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978644 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978644 ms (missed cycles : 3).[0m ×2 + 10.85sINFOglobal_costmap.global_costmapstart + 11.14sINFOros2_control_node[2026-10-25 06:33:02.026] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.14sINFOros2_control_node[2026-10-25 06:33:02.029] [info] Controller state will be published at 10 Hz. ×2 + 11.14sINFOros2_control_node[2026-10-25 06:33:02.030] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.47sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.47sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.47sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.47sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 11.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 11.49sINFOros2-22process has finished cleanly [pid 8166] ×2 + 11.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332021 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332021 ms (missed cycles : 2).[0m ×2 + 11.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.85sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.85sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 11.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.85sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 11.89sINFOros2-15process has finished cleanly [pid 8159] ×2 + 11.91sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.91sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.91sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.91sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.91sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.01sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.01sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.01sINFObehavior_serverActivating + 12.01sINFObehavior_serverActivating spin + 12.01sINFObehavior_serverActivating backup + 12.01sINFObehavior_serverActivating drive_on_heading + 12.01sINFObehavior_serverActivating assisted_teleop + 12.01sINFObehavior_serverActivating wait + 12.01sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.12sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.12sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.12sINFObt_navigatorActivating + 12.21sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.31sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.32sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.32sINFOwaypoint_followerActivating + 12.32sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.35sINFOros2_control_node[2026-10-25 06:33:03.239] [info] Controller state will be published at 20 Hz. ×2 + 12.35sINFOros2_control_node[2026-10-25 06:33:03.240] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.43sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.43sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.43sINFOvelocity_smootherActivating + 12.43sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.53sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.53sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.53sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.67sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.67sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 12.67sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 12.72sINFOros2-23process has finished cleanly [pid 8167] ×2 + 12.74sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.74sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901191 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901191 ms (missed cycles : 5).[0m ×2 + 13.18sINFOros2_control_node[2026-10-25 06:33:04.066] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.18sINFOros2_control_node[2026-10-25 06:33:04.068] [info] Controller state will be published at 10 Hz. ×2 + 13.18sINFOros2_control_node[2026-10-25 06:33:04.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.51sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.52sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.52sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 13.52sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 13.56sINFOros2-21process has finished cleanly [pid 8165] ×2 + 13.59sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.59sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.59sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.59sINFOplatform_velocity_controller_nav2configure successful + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895747 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895747 ms (missed cycles : 2).[0m ×2 + 13.95sINFOros2-19process has finished cleanly [pid 8163] ×2 + 13.96sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.96sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.96sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.96sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.96sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr + 13.96sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9793knxm --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_9q90_53i --params-file /tmp/launch_params_55b60akr [0m ×2 + 14.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 14.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 14.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 14.03sINFOforce_torque_sensor_broadcasterconfigure successful + 14.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 14.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 14.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 14.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.35sINFOros2-14process has finished cleanly [pid 8158] ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884451 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884451 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380656 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380656 ms (missed cycles : 3).[0m ×2 + 16.65sWARNobjective_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 + 16.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278005 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278005 ms (missed cycles : 2).[0m ×2 + 17.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407356 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407356 ms (missed cycles : 4).[0m ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140572 ms (missed cycles : 4). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140572 ms (missed cycles : 4).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 22.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.51sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.51sINFOobjective_server_nodeobjective_name: "" ×12 + 22.51sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.51sINFOobjective_server_node ×56 + 22.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.51sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.51sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.51sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.51sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.51sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.51sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.51sINFOobjective_server_node</Control> ×24 + 22.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.51sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.51sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.51sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.51sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.51sINFOobjective_server_nodecaller: ×14 + 22.51sINFOobjective_server_nodetype: 0 ×14 + 22.51sINFOobjective_server_nodename: "" ×14 + 22.51sINFOobjective_server_nodeinstance_id: "" ×14 + 22.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.64sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 22.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 22.72sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 22.77sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 23.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.38sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 23.50sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.56sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.63sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 24.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.18sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 24.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 25.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 25.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 25.06sINFOmove_groupClearing octomap...[0m ×2 + 25.06sINFOmove_groupOctomap cleared.[0m ×2 + 25.07sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.07sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3
✓ passed	—	placed	0.9s	6 errors · 24 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140572 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140572 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.31sINFOobjective_server_nodeobjective_name: "" ×12 + 3.31sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.31sINFOobjective_server_node ×60 + 3.31sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.31sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.31sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.31sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.31sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.31sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.31sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.31sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.31sINFOobjective_server_node</Control> ×24 + 3.31sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.31sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.31sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.31sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.31sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.31sINFOobjective_server_nodecaller: ×18 + 3.31sINFOobjective_server_nodetype: 0 ×18 + 3.31sINFOobjective_server_nodename: "" ×18 + 3.31sINFOobjective_server_nodeinstance_id: "" ×18 + 3.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 3.53sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.57sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 4.31sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 7.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3
✓ passed	—	release_fails	0.8s	6 errors · 21 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2).[0m ×2 + 0.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.21sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.27sINFOobjective_server_nodeobjective_name: "" ×12 + 1.27sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.27sINFOobjective_server_node ×64 + 1.27sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.27sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.27sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.27sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.27sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.27sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.27sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.27sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.27sINFOobjective_server_node</Control> ×24 + 1.27sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.27sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.27sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.27sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.27sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.27sINFOobjective_server_nodecaller: ×22 + 1.27sINFOobjective_server_nodetype: 0 ×22 + 1.27sINFOobjective_server_nodename: "" ×22 + 1.27sINFOobjective_server_nodeinstance_id: "" ×22 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.49sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 2.26sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.99sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3
✓ passed	—	hover_fails	0.8s	6 errors · 24 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.21sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.28sINFOobjective_server_nodeobjective_name: "" ×12 + 2.28sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.28sINFOobjective_server_node ×62 + 2.28sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.28sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.28sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.28sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.28sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.28sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.28sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.28sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.28sINFOobjective_server_node</Control> ×24 + 2.28sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.28sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.28sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.28sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.28sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.28sINFOobjective_server_nodecaller: ×20 + 2.28sINFOobjective_server_nodetype: 0 ×20 + 2.28sINFOobjective_server_nodename: "" ×20 + 2.28sINFOobjective_server_nodeinstance_id: "" ×20 + 2.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 2.49sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 2.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.19sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 3.27sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 6.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 588 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140572 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140572 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065841 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867454 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.31sINFOobjective_server_nodeobjective_name: "" ×12 + 3.31sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.31sINFOobjective_server_node ×58 + 3.31sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.31sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.31sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.31sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.31sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.31sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.31sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.31sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.31sINFOobjective_server_node</Control> ×24 + 3.31sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.31sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.31sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.31sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.31sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.31sINFOobjective_server_nodecaller: ×16 + 3.31sINFOobjective_server_nodetype: 0 ×16 + 3.31sINFOobjective_server_nodename: "" ×16 + 3.31sINFOobjective_server_nodeinstance_id: "" ×16 + 3.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 3.53sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.57sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 4.31sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOvacuum_gripperReceived & accepted new action goal + 6.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.3s	3 errors · 239 warnings · 288 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.385ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545057 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545057 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.849ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154394 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154394 ms (missed cycles : 4).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.724ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729852 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729852 ms (missed cycles : 2).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.513ms + 2.82sINFOobjective_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 + 2.83sINFOjoint_trajectory_controllerGot request to cancel goal + 2.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.83sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.87sERRORobjective_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: 1792910211.73019385 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1792910211752650865, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.231ms + 3.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.37sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987513 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987513 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792910212.33439708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.907ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141650 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141650 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599534 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599534 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898577 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898577 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361787 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361787 ms (missed cycles : 2).[0m ×2 + 8.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.528ms + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271361 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271361 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.700ms + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.405ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471883 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471883 ms (missed cycles : 2).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.419ms + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206153 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206153 ms (missed cycles : 4).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.485ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640875 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640875 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.707ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934891 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934891 ms (missed cycles : 4).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.587ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.122ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216830 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216830 ms (missed cycles : 2).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.287ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647173 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647173 ms (missed cycles : 3).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.051ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.417ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509056 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509056 ms (missed cycles : 3).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.370ms + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.401ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959823 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959823 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.380ms + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164575 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164575 ms (missed cycles : 2).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.497ms + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.605ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859354 ms (missed cycles : 4). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859354 ms (missed cycles : 4).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.522ms + 19.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700397 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700397 ms (missed cycles : 2).[0m ×2 + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.232ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045210 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045210 ms (missed cycles : 3).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.803ms + 22.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.195ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830530 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830530 ms (missed cycles : 2).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.603ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080757 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080757 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.506ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.552ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191922 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191922 ms (missed cycles : 2).[0m ×2 + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.921ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153020 ms (missed cycles : 2). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153020 ms (missed cycles : 2).[0m ×2 + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.646ms + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.244ms + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868115 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868115 ms (missed cycles : 2).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.729ms + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.706ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181143 ms (missed cycles : 5). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181143 ms (missed cycles : 5).[0m ×2 + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.112ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130197 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130197 ms (missed cycles : 2).[0m ×2 + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.776ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.178ms + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316198 ms (missed cycles : 2). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316198 ms (missed cycles : 2).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.887ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266444 ms (missed cycles : 3). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266444 ms (missed cycles : 3).[0m ×2 + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.182ms + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.766ms + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360634 ms (missed cycles : 3). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360634 ms (missed cycles : 3).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.479ms + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752616 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752616 ms (missed cycles : 3).[0m ×2 + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.603ms + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432519 ms (missed cycles : 5). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432519 ms (missed cycles : 5).[0m ×2 + 34.62sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.62sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252457 ms (missed cycles : 2). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252457 ms (missed cycles : 2).[0m ×2 + 35.54sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628248 ms (missed cycles : 4). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628248 ms (missed cycles : 4).[0m ×2 + 36.40sINFOobjective_server_nodePlanning for 32 path waypoints. ×6 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376449 ms (missed cycles : 3). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376449 ms (missed cycles : 3).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298640 ms (missed cycles : 3). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298640 ms (missed cycles : 3).[0m ×2 + 39.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.792ms + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487706 ms (missed cycles : 3). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487706 ms (missed cycles : 3).[0m ×2 + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.237ms + 40.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.957ms + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975978 ms (missed cycles : 2). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975978 ms (missed cycles : 2).[0m ×2 + 41.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.172ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159626 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159626 ms (missed cycles : 3).[0m ×2 + 41.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.507ms + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722914 ms (missed cycles : 3). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722914 ms (missed cycles : 3).[0m ×2 + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.452ms + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860709 ms (missed cycles : 3). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860709 ms (missed cycles : 3).[0m ×2 + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117114 ms (missed cycles : 2). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117114 ms (missed cycles : 2).[0m ×2 + 44.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.684ms + 45.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.524ms + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425830 ms (missed cycles : 3). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425830 ms (missed cycles : 3).[0m ×2 + 45.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.506ms + 46.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.582ms + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756043 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756043 ms (missed cycles : 2).[0m ×2 + 47.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.448ms + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143304 ms (missed cycles : 3). + 47.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143304 ms (missed cycles : 3).[0m ×2 + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.864ms + 48.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.901ms + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676350 ms (missed cycles : 2). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676350 ms (missed cycles : 2).[0m ×2 + 49.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.779ms + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852738 ms (missed cycles : 5). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852738 ms (missed cycles : 5).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.264ms + 50.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.484ms + 50.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952989 ms (missed cycles : 3). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952989 ms (missed cycles : 3).[0m ×2 + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.875ms + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795186 ms (missed cycles : 2). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795186 ms (missed cycles : 2).[0m ×2 + 52.08sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 52.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944084 ms (missed cycles : 5). + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944084 ms (missed cycles : 5).[0m ×2 + 53.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703691 ms (missed cycles : 5). + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703691 ms (missed cycles : 5).[0m ×2 + 55.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137038 ms (missed cycles : 2). + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137038 ms (missed cycles : 2).[0m ×2 + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889737 ms (missed cycles : 2). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889737 ms (missed cycles : 2).[0m ×2 + 56.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.289ms + 56.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.115ms + 57.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856230 ms (missed cycles : 5). + 57.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856230 ms (missed cycles : 5).[0m ×2 + 57.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.828ms + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340326 ms (missed cycles : 3). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340326 ms (missed cycles : 3).[0m ×2 + 58.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.543ms + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699235 ms (missed cycles : 5). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699235 ms (missed cycles : 5).[0m ×2 + 59.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.812ms + 59.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.217ms + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207080 ms (missed cycles : 2). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207080 ms (missed cycles : 2).[0m ×2 + 60.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.441ms + 60.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 61.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.929ms + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198898 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198898 ms (missed cycles : 2).[0m ×2 + 61.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.236ms + 62.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313658 ms (missed cycles : 4). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313658 ms (missed cycles : 4).[0m ×2 + 62.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.464ms + 63.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965131 ms (missed cycles : 3). + 63.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965131 ms (missed cycles : 3).[0m ×2 + 63.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.557ms + 64.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489551 ms (missed cycles : 4). + 64.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489551 ms (missed cycles : 4).[0m ×2 + 65.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248473 ms (missed cycles : 2). + 65.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248473 ms (missed cycles : 2).[0m ×2 + 65.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.835ms + 66.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871611 ms (missed cycles : 3). + 66.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871611 ms (missed cycles : 3).[0m ×2 + 67.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859900 ms (missed cycles : 2). + 67.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859900 ms (missed cycles : 2).[0m ×2 + 67.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.262ms + 68.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.532ms + 68.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283016 ms (missed cycles : 2). + 68.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283016 ms (missed cycles : 2).[0m ×2 + 69.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.135ms + 69.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849369 ms (missed cycles : 2). + 69.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849369 ms (missed cycles : 2).[0m ×2 + 69.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.933ms + 70.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.920ms + 70.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.912ms + 70.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044980 ms (missed cycles : 3). + 70.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044980 ms (missed cycles : 3).[0m ×2 + 71.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.454ms + 71.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.921ms + 71.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688951 ms (missed cycles : 2). + 71.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688951 ms (missed cycles : 2).[0m ×2 + 72.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.866ms + 72.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.347ms + 72.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.977ms + 72.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105538 ms (missed cycles : 3). + 72.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105538 ms (missed cycles : 3).[0m ×2 + 73.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.663ms + 73.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.100ms + 74.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146858 ms (missed cycles : 3). + 74.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146858 ms (missed cycles : 3).[0m ×2 + 74.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.855ms + 75.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082561 ms (missed cycles : 2). + 75.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082561 ms (missed cycles : 2).[0m ×2 + 75.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792910284.06462336 seconds ×3 + 75.25sINFOstate_estimatorReceived a set_pose request (stamp: 1792910284092153912, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 75.31sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.25) is out of map bounds (-4.20, 5.75) to (0.78, 10.73). The costmap cannot raytrace for it. + 75.31sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.89) is out of map bounds (-4.20, 5.75) to (0.78, 10.73). The costmap cannot raytrace for it. + 75.41sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.41sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.64sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.233ms + 75.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 75.76sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 75.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792910284.66368151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793926 ms (missed cycles : 2). + 76.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793926 ms (missed cycles : 2).[0m ×2 + 77.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518487 ms (missed cycles : 3). + 77.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518487 ms (missed cycles : 3).[0m ×2 + 77.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 77.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 77.39sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549167, y=-0.0157425, yaw=-0.0119876 + 77.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.772ms + 78.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141675 ms (missed cycles : 2). + 78.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141675 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.6s	191 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.23sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.56sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.56sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830028 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830028 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 7.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.439ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652033 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652033 ms (missed cycles : 3).[0m ×2 + 8.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.377ms + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.764ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917823 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917823 ms (missed cycles : 4).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.358ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174838 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174838 ms (missed cycles : 2).[0m ×2 + 10.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.576ms + 11.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.631ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207368 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207368 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 12.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.710ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586569 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586569 ms (missed cycles : 3).[0m ×2 + 13.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.572ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642351 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642351 ms (missed cycles : 3).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.104ms + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.633ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526373 ms (missed cycles : 4). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526373 ms (missed cycles : 4).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.893ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897432 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897432 ms (missed cycles : 2).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.483ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.331ms + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545680 ms (missed cycles : 3). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545680 ms (missed cycles : 3).[0m ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.126ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.209ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375520 ms (missed cycles : 3). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375520 ms (missed cycles : 3).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.526ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083604 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083604 ms (missed cycles : 2).[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.041ms + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.082ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542229 ms (missed cycles : 4). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542229 ms (missed cycles : 4).[0m ×2 + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.736ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102306 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102306 ms (missed cycles : 3).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.997ms + 21.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358631 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358631 ms (missed cycles : 3).[0m ×2 + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.610ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.015ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590118 ms (missed cycles : 3). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590118 ms (missed cycles : 3).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.144ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598346 ms (missed cycles : 3). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598346 ms (missed cycles : 3).[0m ×2 + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.987ms + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.733ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095501 ms (missed cycles : 4). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095501 ms (missed cycles : 4).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.717ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915496 ms (missed cycles : 4). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915496 ms (missed cycles : 4).[0m ×2 + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.742ms + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.970ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038261 ms (missed cycles : 4). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038261 ms (missed cycles : 4).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.352ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.846ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958863 ms (missed cycles : 3). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958863 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453338 ms (missed cycles : 3). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453338 ms (missed cycles : 3).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.692ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424302 ms (missed cycles : 3). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424302 ms (missed cycles : 3).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.313ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.962ms + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514430 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514430 ms (missed cycles : 2).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.159ms + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122130 ms (missed cycles : 2). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122130 ms (missed cycles : 2).[0m ×2 + 33.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.473ms + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486003 ms (missed cycles : 2). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486003 ms (missed cycles : 2).[0m ×2 + 33.97sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 33.99sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651160 ms (missed cycles : 3). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651160 ms (missed cycles : 3).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314682 ms (missed cycles : 5). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314682 ms (missed cycles : 5).[0m ×2 + 36.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433608 ms (missed cycles : 2). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433608 ms (missed cycles : 2).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176119 ms (missed cycles : 3). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176119 ms (missed cycles : 3).[0m ×2 + 37.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.171ms + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454971 ms (missed cycles : 3). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454971 ms (missed cycles : 3).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442830 ms (missed cycles : 3). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442830 ms (missed cycles : 3).[0m ×2 + 40.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.123ms + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813803 ms (missed cycles : 3). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813803 ms (missed cycles : 3).[0m ×2 + 41.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.766ms + 42.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363496 ms (missed cycles : 4). + 42.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363496 ms (missed cycles : 4).[0m ×2 + 43.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343517 ms (missed cycles : 5). + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343517 ms (missed cycles : 5).[0m ×2 + 43.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.469ms + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052030 ms (missed cycles : 2). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052030 ms (missed cycles : 2).[0m ×2 + 44.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.074ms + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355015 ms (missed cycles : 3). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355015 ms (missed cycles : 3).[0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371441 ms (missed cycles : 3). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371441 ms (missed cycles : 3).[0m ×2 + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063973 ms (missed cycles : 4). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063973 ms (missed cycles : 4).[0m ×2 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.371ms + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.247ms + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610247 ms (missed cycles : 5). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610247 ms (missed cycles : 5).[0m ×2 + 49.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718373 ms (missed cycles : 5). + 49.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718373 ms (missed cycles : 5).[0m ×2 + 50.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322005 ms (missed cycles : 3). + 50.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322005 ms (missed cycles : 3).[0m ×2 + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.407ms + 51.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.925ms + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821363 ms (missed cycles : 3). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821363 ms (missed cycles : 3).[0m ×2 + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600242 ms (missed cycles : 3). + 52.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600242 ms (missed cycles : 3).[0m ×2 + 53.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993691 ms (missed cycles : 3). + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993691 ms (missed cycles : 3).[0m ×2 + 54.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.306ms + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129129 ms (missed cycles : 4). + 54.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129129 ms (missed cycles : 4).[0m ×2 + 55.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.886ms + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.276907 ms (missed cycles : 7). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.276907 ms (missed cycles : 7).[0m ×2 + 56.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839977 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839977 ms (missed cycles : 2).[0m ×2 + 57.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496942 ms (missed cycles : 2). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496942 ms (missed cycles : 2).[0m ×2 + 58.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.221ms + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681520 ms (missed cycles : 2). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681520 ms (missed cycles : 2).[0m ×2 + 59.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.253ms + 59.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792910348.13750052 seconds ×3 + 59.88sINFOstate_estimatorReceived a set_pose request (stamp: 1792910348162514704, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.98sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-3.30, 0.55) to (1.68, 5.53). The costmap cannot raytrace for it. + 59.98sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-3.30, 0.55) to (1.68, 5.53). The costmap cannot raytrace for it. + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566657 ms (missed cycles : 3). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566657 ms (missed cycles : 3).[0m ×2 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.086ms + 60.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 60.35sINFOamclInitializing particles from estimated pose and covariance + 60.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 60.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 60.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.39sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792910348.75196981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.035ms + 60.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 61.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224030 ms (missed cycles : 2). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224030 ms (missed cycles : 2).[0m ×2 + 61.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968059 ms (missed cycles : 3). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968059 ms (missed cycles : 3).[0m ×2 + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239508 ms (missed cycles : 3). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239508 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	188 warnings · 233 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.650ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022684 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022684 ms (missed cycles : 3).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.124ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.223ms + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.368ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465297 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465297 ms (missed cycles : 2).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.488ms + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792910049.36552000 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOstate_estimatorReceived a set_pose request (stamp: 1792910049384241556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547303 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547303 ms (missed cycles : 4).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 1756 particles 811 points - 6.147ms + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.43sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792910049.96380639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.249ms + 3.94sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191666 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191666 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977517 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977517 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720292 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720292 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781859 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781859 ms (missed cycles : 2).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.227ms + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.435ms + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577748 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577748 ms (missed cycles : 2).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.519ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 10.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.203ms + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714084 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714084 ms (missed cycles : 2).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.593ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.271ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374485 ms (missed cycles : 4). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374485 ms (missed cycles : 4).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.166ms + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197406 ms (missed cycles : 3). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197406 ms (missed cycles : 3).[0m ×2 + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.890ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340197 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340197 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.335ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364570 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364570 ms (missed cycles : 3).[0m ×2 + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.247ms + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250295 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250295 ms (missed cycles : 4).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.876ms + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.292ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934083 ms (missed cycles : 4). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934083 ms (missed cycles : 4).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.788ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812581 ms (missed cycles : 2). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812581 ms (missed cycles : 2).[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.222ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.630ms + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421910 ms (missed cycles : 3). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421910 ms (missed cycles : 3).[0m ×2 + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.543ms + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.098ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109938 ms (missed cycles : 3). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109938 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.956ms + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556955 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556955 ms (missed cycles : 2).[0m ×2 + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.832ms + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.465ms + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164019 ms (missed cycles : 4). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164019 ms (missed cycles : 4).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.851ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898096 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898096 ms (missed cycles : 2).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.114ms + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.780ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144011 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144011 ms (missed cycles : 2).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.390ms + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.986ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222438 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222438 ms (missed cycles : 3).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.606ms + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669571 ms (missed cycles : 5). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669571 ms (missed cycles : 5).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.061ms + 27.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.964ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761822 ms (missed cycles : 5). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761822 ms (missed cycles : 5).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.756ms + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094153 ms (missed cycles : 3). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094153 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.185ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001097 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001097 ms (missed cycles : 2).[0m ×2 + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.181ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697117 ms (missed cycles : 3). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697117 ms (missed cycles : 3).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.233ms + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.905ms + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155533 ms (missed cycles : 3). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155533 ms (missed cycles : 3).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.123ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.532ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754208 ms (missed cycles : 2). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754208 ms (missed cycles : 2).[0m ×2 + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.403ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948964 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948964 ms (missed cycles : 4).[0m ×2 + 34.53sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.59sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891016 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891016 ms (missed cycles : 2).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367536 ms (missed cycles : 3). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367536 ms (missed cycles : 3).[0m ×2 + 36.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.312ms + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565484 ms (missed cycles : 3). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565484 ms (missed cycles : 3).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975920 ms (missed cycles : 3). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975920 ms (missed cycles : 3).[0m ×2 + 38.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.145ms + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842248 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842248 ms (missed cycles : 2).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671109 ms (missed cycles : 5). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671109 ms (missed cycles : 5).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.005816 ms (missed cycles : 5). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.005816 ms (missed cycles : 5).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.271ms + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129614 ms (missed cycles : 3). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129614 ms (missed cycles : 3).[0m ×2 + 42.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.193ms + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582762 ms (missed cycles : 3). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582762 ms (missed cycles : 3).[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832650 ms (missed cycles : 2). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832650 ms (missed cycles : 2).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.307ms + 45.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.149ms + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131240 ms (missed cycles : 2). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131240 ms (missed cycles : 2).[0m ×2 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077869 ms (missed cycles : 3). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077869 ms (missed cycles : 3).[0m ×2 + 48.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.968ms + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953103 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953103 ms (missed cycles : 2).[0m ×2 + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076026 ms (missed cycles : 2). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076026 ms (missed cycles : 2).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876792 ms (missed cycles : 3). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876792 ms (missed cycles : 3).[0m ×2 + 51.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.031ms + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026466 ms (missed cycles : 3). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026466 ms (missed cycles : 3).[0m ×2 + 53.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100179 ms (missed cycles : 3). + 53.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100179 ms (missed cycles : 3).[0m ×2 + 54.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218901 ms (missed cycles : 3). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218901 ms (missed cycles : 3).[0m ×2 + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387868 ms (missed cycles : 2). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387868 ms (missed cycles : 2).[0m ×2 + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889340 ms (missed cycles : 3). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889340 ms (missed cycles : 3).[0m ×2 + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 58.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 58.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 60.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 60.47sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.64sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.64sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.74sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.74sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 60.98sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 60.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.04sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 61.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 61.45sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 61.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 63.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.8s	189 warnings · 234 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.808ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.740ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.909ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792910145.95880675 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1792910145983479886, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.779ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.17sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792910146.56284499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.075ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.85sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.85sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031025 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031025 ms (missed cycles : 2).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.684ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973391 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973391 ms (missed cycles : 4).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137511 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137511 ms (missed cycles : 3).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.912ms + 9.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.366ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149540 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149540 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.086ms + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.261ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989718 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989718 ms (missed cycles : 4).[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.520ms + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576205 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576205 ms (missed cycles : 2).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.924ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.288ms + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796932 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796932 ms (missed cycles : 3).[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.383ms + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.709ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851278 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851278 ms (missed cycles : 3).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.346ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.910178 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.910178 ms (missed cycles : 4).[0m ×2 + 15.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.539ms + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.609ms + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593402 ms (missed cycles : 3). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593402 ms (missed cycles : 3).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563071 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563071 ms (missed cycles : 2).[0m ×2 + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.461ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.487ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439644 ms (missed cycles : 3). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439644 ms (missed cycles : 3).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.310ms + 19.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.571ms + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488697 ms (missed cycles : 2). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488697 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.335ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489059 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489059 ms (missed cycles : 3).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.300ms + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.374ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500240 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500240 ms (missed cycles : 2).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.305ms + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.872ms + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916897 ms (missed cycles : 3). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916897 ms (missed cycles : 3).[0m ×2 + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.894ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224497 ms (missed cycles : 2). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224497 ms (missed cycles : 2).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.360ms + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.436ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854961 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854961 ms (missed cycles : 3).[0m ×2 + 25.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.323ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853443 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853443 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.634ms + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.175ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211220 ms (missed cycles : 5). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211220 ms (missed cycles : 5).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.565ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134097 ms (missed cycles : 4). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134097 ms (missed cycles : 4).[0m ×2 + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.642ms + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.142ms + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046570 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046570 ms (missed cycles : 3).[0m ×2 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.283ms + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367735 ms (missed cycles : 2). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367735 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.168ms + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.045ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259534 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259534 ms (missed cycles : 3).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.534ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.129ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612225 ms (missed cycles : 3). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612225 ms (missed cycles : 3).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.144ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255110 ms (missed cycles : 3). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255110 ms (missed cycles : 3).[0m ×2 + 34.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.059ms + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839192 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839192 ms (missed cycles : 3).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758989 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758989 ms (missed cycles : 2).[0m ×2 + 36.66sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050562 ms (missed cycles : 3). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050562 ms (missed cycles : 3).[0m ×2 + 37.35sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057782 ms (missed cycles : 3). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057782 ms (missed cycles : 3).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851598 ms (missed cycles : 3). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851598 ms (missed cycles : 3).[0m ×2 + 39.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.294ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872465 ms (missed cycles : 3). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872465 ms (missed cycles : 3).[0m ×2 + 40.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.336ms + 40.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.782ms + 41.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789145 ms (missed cycles : 3). + 41.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789145 ms (missed cycles : 3).[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.681ms + 42.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.555ms + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763415 ms (missed cycles : 3). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763415 ms (missed cycles : 3).[0m ×2 + 42.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.755ms + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938156 ms (missed cycles : 4). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938156 ms (missed cycles : 4).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.977778 ms (missed cycles : 5). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.977778 ms (missed cycles : 5).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066480 ms (missed cycles : 3). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066480 ms (missed cycles : 3).[0m ×2 + 45.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.616ms + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.166ms + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695527 ms (missed cycles : 3). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695527 ms (missed cycles : 3).[0m ×2 + 46.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.016ms + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.711ms + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347025 ms (missed cycles : 3). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347025 ms (missed cycles : 3).[0m ×2 + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.204ms + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560261 ms (missed cycles : 3). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560261 ms (missed cycles : 3).[0m ×2 + 48.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.437ms + 49.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064752 ms (missed cycles : 7). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064752 ms (missed cycles : 7).[0m ×2 + 50.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.898ms + 50.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555009 ms (missed cycles : 2). + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555009 ms (missed cycles : 2).[0m ×2 + 50.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.657ms + 51.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.605ms + 51.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775614 ms (missed cycles : 3). + 51.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775614 ms (missed cycles : 3).[0m ×2 + 52.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.006ms + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786506 ms (missed cycles : 3). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786506 ms (missed cycles : 3).[0m ×2 + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129069 ms (missed cycles : 3). + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129069 ms (missed cycles : 3).[0m ×2 + 53.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.587ms + 54.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398362 ms (missed cycles : 3). + 54.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398362 ms (missed cycles : 3).[0m ×2 + 55.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.718ms + 55.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113417 ms (missed cycles : 4). + 55.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113417 ms (missed cycles : 4).[0m ×2 + 56.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.636ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704237 ms (missed cycles : 2). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704237 ms (missed cycles : 2).[0m ×2 + 57.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792910200.73549056 seconds ×3 + 57.48sINFOstate_estimatorReceived a set_pose request (stamp: 1792910200760601367, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 57.69sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 10.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 57.69sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 57.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.665ms + 57.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 58.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.06sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792910201.34549522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137509 ms (missed cycles : 3). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137509 ms (missed cycles : 3).[0m ×2 + 58.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.701ms + 58.64sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359622 ms (missed cycles : 3). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359622 ms (missed cycles : 3).[0m ×2 + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114094 ms (missed cycles : 3). + 60.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114094 ms (missed cycles : 3).[0m ×2 + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144588 ms (missed cycles : 3). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144588 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	147 warnings · 425 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_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 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.97sINFOmove_groupClearing octomap...[0m ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×2 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079797 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079797 ms (missed cycles : 3).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1054 particles 811 points - 8.470ms + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252138 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252138 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896837 ms (missed cycles : 3). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896837 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586185 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586185 ms (missed cycles : 4).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457996 ms (missed cycles : 4). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457996 ms (missed cycles : 4).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092586 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092586 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055001 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055001 ms (missed cycles : 3).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611805 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611805 ms (missed cycles : 2).[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965559 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965559 ms (missed cycles : 3).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838666 ms (missed cycles : 4). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838666 ms (missed cycles : 4).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649799 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649799 ms (missed cycles : 3).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177927 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177927 ms (missed cycles : 2).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695443 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695443 ms (missed cycles : 2).[0m ×2 + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.044ms + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800163 ms (missed cycles : 3). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800163 ms (missed cycles : 3).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015262 ms (missed cycles : 2). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015262 ms (missed cycles : 2).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994674 ms (missed cycles : 3). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994674 ms (missed cycles : 3).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275204 ms (missed cycles : 3). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275204 ms (missed cycles : 3).[0m ×2 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284963 ms (missed cycles : 3). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284963 ms (missed cycles : 3).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987448 ms (missed cycles : 3). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987448 ms (missed cycles : 3).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709217 ms (missed cycles : 5). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709217 ms (missed cycles : 5).[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305622 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305622 ms (missed cycles : 2).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875146 ms (missed cycles : 2). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875146 ms (missed cycles : 2).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233041 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233041 ms (missed cycles : 2).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278929 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278929 ms (missed cycles : 2).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137327 ms (missed cycles : 3). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137327 ms (missed cycles : 3).[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698363 ms (missed cycles : 3). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698363 ms (missed cycles : 3).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421602 ms (missed cycles : 3). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421602 ms (missed cycles : 3).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640745 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640745 ms (missed cycles : 3).[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829737 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829737 ms (missed cycles : 2).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.858414 ms (missed cycles : 5). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.858414 ms (missed cycles : 5).[0m ×2 + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.236ms + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731835 ms (missed cycles : 3). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731835 ms (missed cycles : 3).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781452 ms (missed cycles : 3). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781452 ms (missed cycles : 3).[0m ×2 + 40.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936340 ms (missed cycles : 6). + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936340 ms (missed cycles : 6).[0m ×2 + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146059 ms (missed cycles : 2). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146059 ms (missed cycles : 2).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199741 ms (missed cycles : 2). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199741 ms (missed cycles : 2).[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2). + 44.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2).[0m ×2 + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2).[0m ×2 + 46.66sINFOjoint_trajectory_controllerGoal reached, success! + 46.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792910043.20297551 seconds ×3 + 46.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_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 + 46.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.72sINFOstate_estimatorReceived a set_pose request (stamp: 1792910043220412778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2).[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 + 47.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792910043.78531694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.30sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 47.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.940ms + 47.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.33sINFOamclInitializing particles from estimated pose and covariance + 47.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 47.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.812ms + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2).[0m ×2 + 48.41sINFOobjective_server_nodeFound path in 0 iterations (2.4762e-05 s). ×2 + 48.47sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2).[0m ×2 + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 49.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3).[0m ×2 + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 50.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	117 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970790 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970790 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914605 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914605 ms (missed cycles : 2).[0m ×2 + 1.42sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.42sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792910113.26282001 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071919 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071919 ms (missed cycles : 2).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792910114.85860181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902557 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902557 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629299 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629299 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804984 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804984 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533534 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533534 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920357 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920357 ms (missed cycles : 3).[0m ×2 + 7.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483549 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483549 ms (missed cycles : 3).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.703ms + 9.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.134ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061615 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061615 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.286ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840698 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840698 ms (missed cycles : 3).[0m ×2 + 10.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.543ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.627ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638504 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638504 ms (missed cycles : 3).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.571ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.185ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752819 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752819 ms (missed cycles : 3).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.684ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984921 ms (missed cycles : 5). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984921 ms (missed cycles : 5).[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.364ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.546ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020923 ms (missed cycles : 4). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020923 ms (missed cycles : 4).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.470ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539114 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539114 ms (missed cycles : 3).[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.424ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.435ms + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300108 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300108 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.520ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.741ms + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360004 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360004 ms (missed cycles : 3).[0m ×2 + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.375ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008687 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008687 ms (missed cycles : 2).[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.297ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.293ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485067 ms (missed cycles : 3). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485067 ms (missed cycles : 3).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401397 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401397 ms (missed cycles : 3).[0m ×2 + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.176ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.402ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849639 ms (missed cycles : 3). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849639 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.381ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.723ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239486 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239486 ms (missed cycles : 2).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.687ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010462 ms (missed cycles : 4). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010462 ms (missed cycles : 4).[0m ×2 + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.340ms + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.060ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.654954 ms (missed cycles : 6). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.654954 ms (missed cycles : 6).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.102ms + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071132 ms (missed cycles : 3). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071132 ms (missed cycles : 3).[0m ×2 + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.808ms + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111156 ms (missed cycles : 2). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111156 ms (missed cycles : 2).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.424ms + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.649ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218055 ms (missed cycles : 2). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218055 ms (missed cycles : 2).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.626ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808955 ms (missed cycles : 4). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808955 ms (missed cycles : 4).[0m ×2 + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.782ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557230 ms (missed cycles : 2). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557230 ms (missed cycles : 2).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.193ms + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2).[0m ×2 + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.808ms + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.740ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.909ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5).[0m ×2 + 34.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792910145.95880675 seconds ×3 + 34.20sINFOstate_estimatorReceived a set_pose request (stamp: 1792910145983479886, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.37sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.37sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m ×2 + 34.66sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.779ms + 34.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.66sINFOamclInitializing particles from estimated pose and covariance + 34.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 34.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792910146.56284499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.075ms + 35.19sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	74 warnings · 260 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839977 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496942 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496942 ms (missed cycles : 2).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.221ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681520 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681520 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.253ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792910348.13750052 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1792910348162514704, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-3.30, 0.55) to (1.68, 5.53). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-3.30, 0.55) to (1.68, 5.53). The costmap cannot raytrace for it. + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566657 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566657 ms (missed cycles : 3).[0m ×2 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.086ms + 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 + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.52sINFOobjective_server_nodecaller: ×6 + 3.52sINFOobjective_server_nodetype: 0 ×6 + 3.52sINFOobjective_server_nodename: "" ×6 + 3.52sINFOobjective_server_nodeinstance_id: "" ×6 + 3.52sINFOobjective_server_node ×6 + 3.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792910348.75196981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.035ms + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224030 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224030 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968059 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968059 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239508 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239508 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821070 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821070 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592366 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592366 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240758 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240758 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 10.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.10sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 10.37sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.42sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213690 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213690 ms (missed cycles : 3).[0m ×2 + 10.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.76sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 11.19sINFOobjective_server_nodeFound path in 33 iterations (0.0503338 s). ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063221 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063221 ms (missed cycles : 3).[0m ×2 + 11.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.71sINFOobjective_server_nodeFound path in 0 iterations (5.78e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.42sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765149 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765149 ms (missed cycles : 2).[0m ×2 + 13.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.27sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180604 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180604 ms (missed cycles : 2).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192567 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192567 ms (missed cycles : 2).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.512ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.899ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246623 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246623 ms (missed cycles : 2).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.972ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747036 ms (missed cycles : 4). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747036 ms (missed cycles : 4).[0m ×2 + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.243ms + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.433ms + 19.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792910364.43924141 seconds ×3 + 19.30sINFOstate_estimatorReceived a set_pose request (stamp: 1792910364454927765, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1893 particles 811 points - 5.640ms + 19.80sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 19.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792910365.06256795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.90sINFOmove_groupClearing octomap...[0m ×2 + 19.90sINFOmove_groupOctomap cleared.[0m ×2 + 19.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.638ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3).[0m ×2 + 20.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792910366.14274669 seconds ×3 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3).[0m ×2 + 21.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.52sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792910366.72651553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3).[0m ×2 + 22.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792910367.73668766 seconds ×3 + 22.81sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	110 errors · 30 warnings · 512 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2).[0m ×2 + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.433ms + 1.38sINFOjoint_trajectory_controllerGoal reached, success! + 1.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792910364.43924141 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.43sINFOstate_estimatorReceived a set_pose request (stamp: 1792910364454927765, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 1893 particles 811 points - 5.640ms + 1.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.93sINFOamclInitializing particles from estimated pose and covariance + 1.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.94sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.94sINFOobjective_server_nodecaller: ×4 + 1.94sINFOobjective_server_nodetype: 0 ×4 + 1.94sINFOobjective_server_nodename: "" ×4 + 1.94sINFOobjective_server_nodeinstance_id: "" ×4 + 1.94sINFOobjective_server_node ×4 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792910365.06256795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.07sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.07sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.638ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792910366.14274669 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792910366.72651553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792910367.73668766 seconds ×3 + 4.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707298 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707298 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886966 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886966 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804765 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804765 ms (missed cycles : 3).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858132 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858132 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675855 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675855 ms (missed cycles : 2).[0m ×2 + 10.43sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.45sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_video_auth_proxy-41process has died [pid 8242, 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 + 10.45sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.46sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge_auth_proxy-40process has died [pid 8241, 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 + 10.46sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.50sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.51sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.52sINFOvideo_server-39process has finished cleanly [pid 8237] ×2 + 10.52sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.53sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.54sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.55sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.56sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.57sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.58sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.59sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.60sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.62sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.63sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.65sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.66sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.68sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.68sINFOcontroller_managerShutdown request received.... + 10.68sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.68sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.68sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.68sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.68sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.68sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.68sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.68sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.68sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.68sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.68sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.68sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.68sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.69sINFOcontroller_managerShutting down the controller manager. + 10.69sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.71sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.72sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.72sERRORmove_group-25process has died [pid 8220, 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_xilp7rlt --params-file /tmp/launch_params_m06dyvis --params-file /tmp/launch_params_e8k8g10g --params-file /tmp/launch_params_hbfje18g --params-file /tmp/launch_params_e0401ukm --params-file /tmp/launch_params_xucnr4_1']. ×2 + 10.73sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.74sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.76sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.77sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.78sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.79sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.80sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.81sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.81sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.81sINFOmap_serverDeactivating + 10.81sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.82sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.82sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.82sINFOcontroller_serverDeactivating + 10.82sINFOlocal_costmap.local_costmapDeactivating + 10.82sINFOvideo_server2026/10/25 06:39:33 INF shutting down gracefully ×2 + 10.82sINFOvideo_server2026/10/25 06:39:33 INF [WebRTC] closing ×2 + 10.82sINFOvideo_server2026/10/25 06:39:33 INF [RTSP] closing ×2 + 10.82sINFOvideo_server2026/10/25 06:39:33 INF waiting for running hooks ×2 + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmap_serverCleaning up + 10.82sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.82sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.82sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.82sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.82sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.82sERRORmove_groupStack trace (most recent call last) in thread 8871: ×2 + 10.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa697399cc3, in __clone ×2 + 10.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa69730cb83, in ×2 + 10.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa69759ddb3, in ×2 + 10.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fa697d07e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.83sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.83sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.83sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa697931620, in rclcpp::Rate::sleep() ×2 + 10.83sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa697873d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.83sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa697835087, in ×2 + 10.83sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa69756c390, in __cxa_throw ×2 + 10.83sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa697556a54, in std::terminate() ×2 + 10.83sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa69756c0d9, in ×2 + 10.83sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa697556ff4, in ×2 + 10.83sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa6972988fe, in abort ×2 + 10.83sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa6972b527d, in raise ×2 + 10.83sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa69730ec0c, in pthread_kill ×2 + 10.83sERRORmove_groupAborted (Signal sent by tkill() 8220 0) ×2 + 10.83sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.83sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.83sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.83sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.83sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.84sERRORamclThe bond connection to the lifecycle manager has been broken + 10.84sINFOcontroller_serverCleaning up + 10.85sINFOlocal_costmap.local_costmapCleaning up + 10.89sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.89sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.89sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.89sINFOsmoother_serverDeactivating + 10.89sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.90sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.90sINFOsmoother_serverCleaning up + 10.92sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.92sINFOplanner_serverDeactivating + 10.92sINFOglobal_costmap.global_costmapDeactivating + 10.98sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.98sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.98sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.98sINFOvelocity_smootherDeactivating + 10.98sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.10sINFOwaypoint_followerDeactivating + 11.10sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.21sINFObt_navigatorDeactivating + 11.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.32sINFObehavior_serverDeactivating + 11.32sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.43sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.44sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.44sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.44sINFOvelocity_smootherCleaning up + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.44sINFOwaypoint_followerCleaning up + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.47sINFObt_navigatorCleaning up + 11.57sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8235] ×2 + 11.57sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.62sINFOjoint_state_visualization_relay-37process has finished cleanly [pid 8234] ×2 + 11.63sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.64sINFOtf_visualization_relay-36process has finished cleanly [pid 8233] ×2 + 11.64sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.65sINFObt_navigatorCompleted Cleaning up + 11.65sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.65sINFObehavior_serverCleaning up + 11.68sINFOui_teleop_bridge-34process has finished cleanly [pid 8231] ×2 + 11.68sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8224] ×2 + 11.69sINFOexecute_objective_bridge-33process has finished cleanly [pid 8228] ×2 + 11.69sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8223] ×2 + 11.70sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.70sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.71sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.71sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.71sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.71sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.71sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.71sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.71sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.71sINFOplanner_serverCleaning up + 11.73sINFOglobal_costmap.global_costmapCleaning up + 11.73sINFOparameter_manager_node-26process has finished cleanly [pid 8221] ×2 + 11.74sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.74sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.75sINFOwaypoint_manager_node-27process has finished cleanly [pid 8222] ×2 + 11.76sINFOrelay-11process has finished cleanly [pid 8155] ×2 + 11.77sINFOrelay-10process has finished cleanly [pid 8154] ×2 + 11.77sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.77sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.77sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.77sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.77sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.78sINFOcomponent_container_mt-32process has finished cleanly [pid 8227] ×2 + 11.78sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8050] ×2 + 11.78sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8156] ×2 + 11.80sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8049] ×2 + 11.81sINFOstatic_transform_publisher-7process has finished cleanly [pid 8048] ×2 + 11.82sINFOstatic_transform_publisher-6process has finished cleanly [pid 8047] ×2 + 11.82sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.82sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.82sINFOlidar_flattener.pymain() ×2 + 11.82sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.82sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.82sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.82sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.82sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.82sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.82sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.82sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.82sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.82sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.83sINFOcomponent_container_mt-31process has finished cleanly [pid 8226] ×2 + 11.84sINFOobjective_server_node[2026-10-25 06:39:34.874] [moveit_pro_license] [info] ×2 + 11.84sINFOobjective_server_node************************************************* ×4 + 11.84sINFOobjective_server_node* MoveIt Pro License ×2 + 11.84sINFOobjective_server_node* Application has successfully terminated ×2 + 11.84sINFOstatic_transform_publisher-3process has finished cleanly [pid 8044] ×2 + 11.86sERRORlidar_flattener.py-5process has died [pid 8046, 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_ws38k3ej']. ×2 + 12.05sINFOobjective_server_node_main-30process has finished cleanly [pid 8225] ×2 + 12.05sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.11sERRORcomponent_container_isolated-1process has died [pid 8042, 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_9qx43cxh --params-file /tmp/launch_params_uy5qx2pa -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.12sERRORcomponent_container_isolated-2process has died [pid 8043, 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_9qx43cxh --params-file /tmp/launch_params_olgyt4by -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.83sINFOodom_world_drift-4process has finished cleanly [pid 8045] ×2 + 13.42sINFOros2_control_node-13process has finished cleanly [pid 8157] ×2 + 13.46sINFOweb_bridge-35process has finished cleanly [pid 8232] ×2 + 13.46sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 63 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398362 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398362 ms (missed cycles : 3).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.718ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113417 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113417 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.636ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704237 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704237 ms (missed cycles : 2).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792910200.73549056 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1792910200760601367, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 10.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.665ms + 3.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.27sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792910201.34549522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137509 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137509 ms (missed cycles : 3).[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.701ms + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359622 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359622 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114094 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114094 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144588 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144588 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213840 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213840 ms (missed cycles : 5).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.538ms + 8.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.162ms + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582600 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582600 ms (missed cycles : 3).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.470ms + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358905 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358905 ms (missed cycles : 3).[0m ×2 + 10.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.114ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.385ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545057 ms (missed cycles : 2). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545057 ms (missed cycles : 2).[0m ×2 + 11.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.849ms + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154394 ms (missed cycles : 4). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154394 ms (missed cycles : 4).[0m ×2 + 12.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.724ms + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729852 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729852 ms (missed cycles : 2).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.513ms + 13.72sINFOobjective_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 + 13.72sINFOjoint_trajectory_controllerGot request to cancel goal + 13.72sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.77sERRORobjective_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: 1792910211.73019385 seconds ×3 + 13.80sINFOstate_estimatorReceived a set_pose request (stamp: 1792910211752650865, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.01sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.01sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.27sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.231ms + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987513 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987513 ms (missed cycles : 2).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792910212.33439708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.907ms + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141650 ms (missed cycles : 3). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141650 ms (missed cycles : 3).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599534 ms (missed cycles : 4). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599534 ms (missed cycles : 4).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898577 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898577 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	50 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.58sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800943 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800943 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970790 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970790 ms (missed cycles : 5).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914605 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914605 ms (missed cycles : 2).[0m ×2 + 9.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792910113.26282001 seconds ×3 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071919 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071919 ms (missed cycles : 2).[0m ×2 + 10.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792910114.85860181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902557 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902557 ms (missed cycles : 3).[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629299 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629299 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804984 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804984 ms (missed cycles : 4).[0m ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533534 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533534 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	44 warnings · 150 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.866ms + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.347ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.977ms + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105538 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105538 ms (missed cycles : 3).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.663ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.100ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146858 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146858 ms (missed cycles : 3).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.855ms + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082561 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082561 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792910284.06462336 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1792910284092153912, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.25) is out of map bounds (-4.20, 5.75) to (0.78, 10.73). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.89) is out of map bounds (-4.20, 5.75) to (0.78, 10.73). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.233ms + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792910284.66368151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793926 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793926 ms (missed cycles : 2).[0m ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518487 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518487 ms (missed cycles : 3).[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 5.13sINFOamclInitializing particles from estimated pose and covariance + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549167, y=-0.0157425, yaw=-0.0119876 + 5.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.772ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141675 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141675 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 7.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 10.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.00sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 12.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	42 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792910043.20297551 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOstate_estimatorReceived a set_pose request (stamp: 1792910043220412778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792910043.78531694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.940ms + 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=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.812ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.4762e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 6.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.650ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022684 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022684 ms (missed cycles : 3).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.124ms + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.223ms + 8.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.368ms + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465297 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465297 ms (missed cycles : 2).[0m ×2 + 8.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.488ms + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 8.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792910049.36552000 seconds ×3 + 8.86sINFOstate_estimatorReceived a set_pose request (stamp: 1792910049384241556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547303 ms (missed cycles : 4). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547303 ms (missed cycles : 4).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 1756 particles 811 points - 6.147ms + 9.32sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 9.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.37sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792910049.96380639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.249ms + 9.83sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191666 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191666 ms (missed cycles : 3).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977517 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977517 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720292 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720292 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.7s	24 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.972ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747036 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747036 ms (missed cycles : 4).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.243ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.433ms + 2.67sINFOjoint_trajectory_controllerGoal reached, success! + 2.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792910364.43924141 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOstate_estimatorReceived a set_pose request (stamp: 1792910364454927765, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1893 particles 811 points - 5.640ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.22sINFOamclInitializing particles from estimated pose and covariance + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792910365.06256795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.638ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792910366.14274669 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792910366.72651553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792910367.73668766 seconds ×3 + 6.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707298 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707298 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886966 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886966 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 21 warnings · 727 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.66sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.66sINFOobjective_server_node</Control> ×16 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.66sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.66sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 0.78sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.34sINFOmove_groupClearing octomap...[0m ×4 + 2.34sINFOmove_groupOctomap cleared.[0m ×4 + 2.35sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 7.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	Close Gripper	close_gripper.xml	0.7s	6 errors · 24 warnings · 817 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.23sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.23sINFOobjective_server_nodeobjective_name: "" ×12 + 0.23sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.23sINFOobjective_server_node ×68 + 0.23sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.23sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.23sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.23sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.23sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.23sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.23sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.23sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.23sINFOobjective_server_node</Control> ×24 + 0.23sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.23sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.23sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.23sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.23sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.23sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.23sINFOobjective_server_nodecaller: ×26 + 0.23sINFOobjective_server_nodetype: 0 ×26 + 0.23sINFOobjective_server_nodename: "" ×26 + 0.23sINFOobjective_server_nodeinstance_id: "" ×26 + 0.27sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 0.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.44sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 1.22sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.78sINFOmove_groupClearing octomap...[0m ×4 + 2.78sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_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 + 6.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 6.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.87sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.808ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.740ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.909ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792910145.95880675 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1792910145983479886, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.779ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792910146.56284499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.075ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 341 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_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 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.97sINFOmove_groupClearing octomap...[0m ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×2 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792910043.20297551 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOstate_estimatorReceived a set_pose request (stamp: 1792910043220412778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792910043.78531694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.940ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.812ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.4762e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 6.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765925 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082739 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792910043.20297551 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOstate_estimatorReceived a set_pose request (stamp: 1792910043220412778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850255 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792910043.78531694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.940ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.812ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233002 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.4762e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514623 ms (missed cycles : 2).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 6.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800666 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.650ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022684 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022684 ms (missed cycles : 3).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.124ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.223ms + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.368ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465297 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465297 ms (missed cycles : 2).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.488ms + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792910049.36552000 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOstate_estimatorReceived a set_pose request (stamp: 1792910049384241556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547303 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547303 ms (missed cycles : 4).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 1756 particles 811 points - 6.147ms + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.43sINFOamclInitializing particles from estimated pose and covariance + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792910049.96380639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.249ms + 3.94sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191666 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191666 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977517 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977517 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720292 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720292 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 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	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644442 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296898 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268741 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792910106.86396861 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOstate_estimatorReceived a set_pose request (stamp: 1792910106890695898, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.514ms + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.16sINFOamclInitializing particles from estimated pose and covariance + 3.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792910107.47264051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710528 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.743ms + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m ×2 + 4.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505315 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.808ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.740ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.909ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792910145.95880675 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1792910145983479886, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.779ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792910146.56284499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.075ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.808ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.740ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.909ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792910145.95880675 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1792910145983479886, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.779ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792910146.56284499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.075ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715468 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.808ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.740ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188369 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.909ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.083274 ms (missed cycles : 5).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792910145.95880675 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1792910145983479886, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.779ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171785, yaw=-0.0183985 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792910146.56284499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.075ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577938 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014280 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 18 warnings · 587 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.68sINFOobjective_server_node</Control> ×8 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.68sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_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 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155967 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578553 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713707 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792910290.56387901 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792910291.16732931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620976 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236307 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872803 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.972ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747036 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747036 ms (missed cycles : 4).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.243ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345488 ms (missed cycles : 2).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.433ms + 2.67sINFOjoint_trajectory_controllerGoal reached, success! + 2.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792910364.43924141 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOstate_estimatorReceived a set_pose request (stamp: 1792910364454927765, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973062 ms (missed cycles : 3).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1893 particles 811 points - 5.640ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.22sINFOamclInitializing particles from estimated pose and covariance + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792910365.06256795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.638ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399182 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792910366.14274669 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489599 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792910366.72651553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845172 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792910367.73668766 seconds ×3 + 6.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[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	3 errors · 24 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.18sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.88sINFOmove_groupClearing octomap...[0m ×4 + 0.88sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	6 errors · 21 warnings · 593 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.68sINFOobjective_server_node</Control> ×8 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.68sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_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 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.11sINFOjoint_trajectory_controllerReceived new action goal + 7.11sINFOjoint_trajectory_controllerAccepted new action goal + 7.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 817 info
+ 0.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×21 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×42 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.07sINFOobjective_server_node ×66 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.08sINFOobjective_server_nodecaller: ×24 + 1.08sINFOobjective_server_nodetype: 0 ×24 + 1.08sINFOobjective_server_nodename: "" ×24 + 1.08sINFOobjective_server_nodeinstance_id: "" ×24 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.99sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 2.07sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.63sINFOmove_groupClearing octomap...[0m ×4 + 3.63sINFOmove_groupOctomap cleared.[0m ×4 + 3.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 7.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOobjective_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 + 7.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3
− skipped	—	addtovector.xml	0.0s	6 errors · 18 warnings · 728 info
+ 0.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×19 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×38 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003673 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.07sINFOobjective_server_node ×64 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.08sINFOobjective_server_nodecaller: ×22 + 1.08sINFOobjective_server_nodetype: 0 ×22 + 1.08sINFOobjective_server_nodename: "" ×22 + 1.08sINFOobjective_server_nodeinstance_id: "" ×22 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.44130349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.53157020 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.99sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 2.07sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 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 + 3.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 724 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.66sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.66sINFOobjective_server_node</Control> ×16 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.66sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.66sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 0.78sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.34sINFOmove_groupClearing octomap...[0m ×4 + 2.34sINFOmove_groupOctomap cleared.[0m ×4 + 2.35sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 724 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.66sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.66sINFOobjective_server_node</Control> ×16 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.66sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.66sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 0.78sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.34sINFOmove_groupClearing octomap...[0m ×4 + 2.34sINFOmove_groupOctomap cleared.[0m ×4 + 2.35sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 724 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909993.65514731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909993.71533203 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327281 ms (missed cycles : 4).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.66sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.66sINFOobjective_server_node</Control> ×16 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.66sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.66sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.66sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.30935526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909994.38954258 seconds ×3 + 0.78sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909994.44974422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909994.51990604 seconds ×3 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.34sINFOmove_groupClearing octomap...[0m ×4 + 2.34sINFOmove_groupOctomap cleared.[0m ×4 + 2.35sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 21 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.11707568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909995.22729397 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.18sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935611 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909995.28692341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909995.35710931 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.88sINFOmove_groupClearing octomap...[0m ×4 + 0.88sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2

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

15 skip

− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[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 · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909995.94704175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909995.96720600 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621816 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909996.56709242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909996.62725401 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909997.32346416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963422 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909997.38361311 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909998.07279372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909998.09298682 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746992 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909998.68428111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909998.83489656 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918784 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909999.44654083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909999.49672699 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792910000.10202193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789910 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084676 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612285 ms (missed cycles : 3).[0m ×2