86
Total objective tests
19
Objectives passed
0
Objectives failed
67
Objectives skipped
20.5s
Avg test time
100%
Objective pass rate
▾
(no parent)2 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 21.2s | 12 errors · 314 warnings · 1586 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-11-06-25-22-720106-7aebfd4607f5-7906 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.60sINFOstatic_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' + 4.60sINFOstatic_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' + 4.60sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.68sINFOcontroller_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. + 4.69sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.73sINFOcontroller_serverCreating controller server + 4.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.75sINFOlocal_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. + 4.75sINFOlocal_costmap.local_costmapCreating Costmap + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.77sINFOmap_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. + 4.77sINFOmap_serverCreating + 4.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.78sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.79sINFOsmoother_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. + 4.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.79sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.80sINFOsmoother_serverCreating smoother server + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.85sINFOplanner_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. + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.87sINFOplanner_serverCreating + 4.87sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.90sINFOglobal_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. + 4.90sINFOglobal_costmap.global_costmapCreating Costmap + 4.91sINFOlifecycle_manager_localizationCreating + 4.91sINFOros2_control_node-13process started with pid [8071] ×2 + 4.91sINFOmove_group-25process started with pid [8132] ×2 + 4.91sINFOparameter_manager_node-26process started with pid [8133] ×2 + 4.91sINFOwaypoint_manager_node-27process started with pid [8134] ×2 + 4.91sINFOmove_joint_resampler_node-28process started with pid [8135] ×2 + 4.91sINFOmove_end_effector_resampler_node-29process started with pid [8136] ×2 + 4.91sINFOobjective_server_node_main-30process started with pid [8137] ×2 + 4.91sINFOcomponent_container_mt-31process started with pid [8139] ×2 + 4.91sINFOcomponent_container_mt-32process started with pid [8140] ×2 + 4.91sINFOexecute_objective_bridge-33process started with pid [8144] ×2 + 4.91sINFOui_teleop_bridge-34process started with pid [8145] ×2 + 4.92sINFOweb_bridge-35process started with pid [8146] ×2 + 4.92sINFOtf_visualization_relay-36process started with pid [8147] ×2 + 4.92sINFOjoint_state_visualization_relay-37process started with pid [8148] ×2 + 4.92sINFOtf2_web_republisher_node-38process started with pid [8149] ×2 + 4.92sINFOvideo_server-39process started with pid [8151] ×2 + 4.92sINFOweb_bridge_auth_proxy-40process started with pid [8152] ×2 + 4.92sINFOweb_video_auth_proxy-41process started with pid [8153] ×2 + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.93sINFOcomponent_container_isolated-1process started with pid [7956] ×2 + 4.93sINFOcomponent_container_isolated-2process started with pid [7957] ×2 + 4.93sINFOstatic_transform_publisher-3process started with pid [7958] ×2 + 4.93sINFOodom_world_drift-4process started with pid [7959] ×2 + 4.93sINFOlidar_flattener.py-5process started with pid [7960] ×2 + 4.93sINFOstatic_transform_publisher-6process started with pid [7961] ×2 + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.94sINFOstatic_transform_publisher-7process started with pid [7962] ×2 + 4.94sINFOscan_to_scan_filter_chain-8process started with pid [7963] ×2 + 4.94sINFOscan_to_scan_filter_chain-9process started with pid [7964] ×2 + 4.94sINFOrelay-10process started with pid [8068] ×2 + 4.94sINFOrelay-11process started with pid [8069] ×2 + 4.94sINFOfixed_lag_smoother_node-12process started with pid [8070] ×2 + 4.94sINFOros2-14process started with pid [8072] ×2 + 4.94sINFOros2-15process started with pid [8073] ×2 + 4.94sINFOros2-16process started with pid [8074] ×2 + 4.94sINFOros2-17process started with pid [8075] ×2 + 4.94sINFOros2-18process started with pid [8076] ×2 + 4.94sINFOros2-19process started with pid [8079] ×2 + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.94sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.95sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.95sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.95sINFOmap_serverConfiguring + 4.95sINFOros2-20process started with pid [8082] ×2 + 4.95sINFOros2-21process started with pid [8083] ×2 + 4.95sINFOros2-22process started with pid [8084] ×2 + 4.95sINFOros2-23process started with pid [8085] ×2 + 4.96sINFOros2-24process started with pid [8103] ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791699929406229566, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.97sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.00sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.01sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.01sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.01sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.01sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.01sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.01sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.01sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.01sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.01sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.01sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.01sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.02sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.02sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.02sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.03sINFOcontroller_managerupdate rate is 600 Hz + 5.03sINFOcontroller_managerOverruns handling is : enabled + 5.03sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.03sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 5.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.03sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.04sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.04sINFOamclConfiguring + 5.05sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.05sINFOmap_serverActivating + 5.05sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.06sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.06sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965267 ms (missed cycles : 6). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965267 ms (missed cycles : 6).[0m ×2 + 5.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.10sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.14sINFObt_navigatorCreating + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.17sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.17sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.17sINFOamclActivating + 5.17sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.17sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.20sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.20sINFOamclSubscribed to map_topic: /map + 5.21sINFOwaypoint_followerCreating + 5.21sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.21sINFOamclCreated reinitialize_global_localization service + 5.21sINFOamclCreated request_nomotion_update service + 5.21sINFOamclA new map was received + 5.21sINFOamclInitializing particle filter instance + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.26sINFOrobot_state_publisherRobot initialized + 5.27sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.27sINFOcontroller_managerReceived robot description from topic. + 5.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.28sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.28sINFOvelocity_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. + 5.28sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.31sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.32sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.34sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.35sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.36sINFOlifecycle_manager_navigationCreating + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.39sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.43sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.43sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.43sINFOcontroller_serverConfiguring controller interface + 5.43sINFOcontroller_servergetting progress checker plugins.. + 5.43sINFOcontroller_servergetting goal checker plugins.. + 5.43sINFOcontroller_serverController frequency set to 20.0000Hz + 5.43sINFOlocal_costmap.local_costmapConfiguring + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.46sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.48sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.50sINFOvideo_server2026/10/11 06:25:29 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.50sINFOvideo_server2026/10/11 06:25:29 INF configuration loaded from /tmp/moveit-webrtc-lti_f8ay/mediamtx.yml ×2 + 5.50sINFOvideo_server2026/10/11 06:25:29 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.50sINFOvideo_server2026/10/11 06:25:29 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.50sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.50sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.51sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.55sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.56sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.56sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.56sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.56sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.58sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.59sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.59sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.59sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.59sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.59sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.59sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.60sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.60sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.61sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.61sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.61sWARNlaser_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. + 5.61sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.61sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.61sWARNscan_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 + 5.62sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.62sWARNlaser_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. + 5.62sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.62sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.63sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.63sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.63sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.63sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.63sINFOcontroller_serverOptimizer reset ×2 + 5.65sINFOcontroller_serverController Server has FollowPath controllers available. + 5.67sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.68sINFOsmoother_serverConfiguring smoother server + 5.69sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.70sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.72sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.72sINFOplanner_serverConfiguring + 5.72sINFOglobal_costmap.global_costmapConfiguring + 5.73sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.74sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.74sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.74sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.75sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.79sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.79sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.79sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.83sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.83sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.84sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.85sINFOplanner_serverPlanner Server has GridBased planners available. + 5.88sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.88sINFObehavior_serverConfiguring + 5.88sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.89sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.89sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.90sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.91sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.91sINFObehavior_serverConfiguring spin + 5.93sINFObehavior_serverConfiguring backup + 5.94sINFObehavior_serverConfiguring drive_on_heading + 5.95sINFObehavior_serverConfiguring assisted_teleop + 5.97sINFObehavior_serverConfiguring wait + 5.99sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.99sINFObt_navigatorConfiguring + 6.03sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.05sWARNbt_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 + 6.08sINFOamclParticle filter initialization completed + 6.08sINFOamclInitializing particles from estimated pose and covariance + 6.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711420 ms (missed cycles : 3).[0m ×2 + 6.17sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.17sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.17sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.19sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.39sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.47sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.446639 seconds + 6.47sINFOmove_groupLoaded robot model in 0.446639 seconds[0m ×2 + 6.48sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.48sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.48sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.48sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.51sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.54sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.54sINFOwaypoint_followerConfiguring + 6.58sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.59sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.59sINFOvelocity_smootherConfiguring velocity smoother + 6.62sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.62sINFOcontroller_serverActivating + 6.62sINFOlocal_costmap.local_costmapActivating + 6.62sINFOlocal_costmap.local_costmapChecking transform + 6.62sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×5 + 6.66sINFOwaypoint_manager_nodeLoaded robot model in 0.275951 seconds[0m ×2 + 6.66sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.66sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.91sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.91sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.91sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.91sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.95sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.95sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.97sWARNmove_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. + 6.97sWARNmove_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 + 6.97sWARNmove_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. + 6.98sWARNmove_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 + 6.98sWARNmove_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. + 6.98sWARNmove_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 + 6.98sWARNmove_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. + 6.98sWARNmove_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 + 6.98sWARNmove_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. + 6.98sWARNmove_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 + 6.98sWARNmove_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. + 6.98sWARNmove_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. + 6.98sWARNmove_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 + 6.98sWARNmove_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 + 6.98sWARNmove_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. + 6.98sWARNmove_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 + 6.98sWARNmove_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. + 6.99sWARNmove_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 + 6.99sWARNmove_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. + 6.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNwaypoint_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. + 7.11sWARNwaypoint_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 + 7.11sWARNwaypoint_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. + 7.11sWARNwaypoint_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 + 7.11sWARNwaypoint_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. + 7.11sWARNwaypoint_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 + 7.11sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965537 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965537 ms (missed cycles : 3).[0m ×2 + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sINFOweb_video_auth_proxy2026-10-11 06:25:31,602 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sINFOweb_video_auth_proxy2026-10-11 06:25:31,608 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 7.17sWARNwaypoint_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. + 7.17sWARNwaypoint_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. + 7.17sWARNwaypoint_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 + 7.17sWARNwaypoint_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 + 7.17sINFOweb_bridge_auth_proxy2026-10-11 06:25:31,615 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 7.42sINFOmove_group[2026-10-11 06:25:31.861] [moveit_pro_license] [info] ×2 + 7.42sINFOmove_group************************************************* ×4 + 7.42sINFOmove_group* MoveIt Pro License ×2 + 7.42sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.49sINFOwaypoint_manager_node[2026-10-11 06:25:31.936] [moveit_pro_license] [info] ×2 + 7.49sINFOwaypoint_manager_node************************************************* ×4 + 7.49sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.49sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.84sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.84sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.85sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.85sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.85sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.85sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.85sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.86sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.86sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.86sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.86sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.86sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.86sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.86sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.86sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.86sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.86sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.86sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.86sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.86sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 7.87sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.87sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.87sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.87sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.87sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.87sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.87sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.87sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.87sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.87sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.87sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.87sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.87sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.87sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.87sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.87sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.87sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.87sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.87sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.87sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.87sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.87sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.87sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.87sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.87sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.87sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.87sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.92sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.92sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 8.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 8.09sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.09sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.09sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.09sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.11sINFOcontroller_managerSuccessfully switched controllers! ×22 + 8.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 8.11sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.11sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.13sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 8.13sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.13sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.29sINFOobjective_server_node[2026-10-11 06:25:32.735] [moveit_pro_license] [info] ×2 + 8.29sINFOobjective_server_node************************************************* ×4 + 8.29sINFOobjective_server_node* MoveIt Pro License ×2 + 8.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601624 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601624 ms (missed cycles : 2).[0m ×2 + 8.40sINFOobjective_server_nodeLoaded robot model in 0.0503079 seconds[0m ×2 + 8.40sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.40sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.45sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.45sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.45sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.45sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.46sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 8.46sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 8.51sINFOros2-16process has finished cleanly [pid 8074] ×2 + 8.52sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.52sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.54sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.57sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.57sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.57sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.57sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.58sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.58sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.58sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.58sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.58sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.58sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.58sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.58sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.58sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.58sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.58sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.59sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.59sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.59sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.59sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.59sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.59sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.59sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.59sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.78sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.82sINFOstreaming_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) + 8.82sINFOcomponent_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 + 8.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.83sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.86sWARNobjective_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. + 8.86sWARNobjective_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. + 8.87sWARNobjective_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. + 8.87sWARNobjective_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. + 8.87sWARNobjective_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 + 8.87sWARNobjective_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. + 8.87sWARNobjective_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. + 8.87sWARNobjective_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 + 8.87sWARNobjective_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. + 8.87sWARNobjective_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. + 8.87sWARNobjective_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. + 8.87sWARNobjective_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. + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.87sWARNobjective_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 + 8.89sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.89sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.89sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.89sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.89sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 8.89sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 8.91sINFOros2-15process has finished cleanly [pid 8073] ×2 + 8.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.97sINFOobjective_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 + 8.97sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.99sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.00sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.01sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.01sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.01sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.01sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.11sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.11sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.11sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 9.12sINFOlocal_costmap.local_costmapstart + 9.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.22sWARNcontroller_serverParameter controller_server.verbose not found + 9.22sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.28sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.28sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.28sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350203 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350203 ms (missed cycles : 2).[0m ×2 + 9.33sINFOros2-18process has finished cleanly [pid 8076] ×2 + 9.33sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.33sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.33sINFOsmoother_serverActivating + 9.33sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 9.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 9.44sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.44sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.44sINFOplanner_serverActivating + 9.44sINFOglobal_costmap.global_costmapActivating + 9.44sINFOglobal_costmap.global_costmapChecking transform + 9.44sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.48sINFOcomponent_container_mtLoaded robot model in 0.372901 seconds[0m ×2 + 9.48sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.48sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.51sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.78sINFOmove_groupMoveGroup debug mode is ON + 9.78sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.78sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.82sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.82sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.83sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.83sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.83sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.83sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.83sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.88sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.95sINFOmove_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
********************************************************
+ 9.95sINFOmove_group ×8 + 9.95sINFOmove_group******************************************************** ×4 + 9.95sINFOmove_group* MoveGroup using: ×2 + 9.95sINFOmove_group* - apply_planning_scene_service ×2 + 9.95sINFOmove_group* - clear_octomap_service ×2 + 9.95sINFOmove_group* - get_group_urdf ×2 + 9.95sINFOmove_group* - load_geometry_from_file ×2 + 9.95sINFOmove_group* - get_planning_scene_service ×2 + 9.95sINFOmove_group* - kinematics_service ×2 + 9.95sINFOmove_group* - save_geometry_to_file ×2 + 9.95sINFOmove_group* - GetPlanningGroups ×2 + 9.95sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.95sINFOmove_group[0m ×2 + 9.95sINFOmove_group[92mYou can start planning now![0m ×2 + 9.96sWARNros2_control_nodeCamera render tick took 0.96 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.00sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.00sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.00sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.01sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 21.692ms + 10.03sINFOros2_control_node[2026-10-11 06:25:34.471] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.03sINFOros2_control_node[2026-10-11 06:25:34.474] [info] Controller state will be published at 10 Hz. ×2 + 10.03sINFOros2_control_node[2026-10-11 06:25:34.475] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.35sINFOcomponent_container_mt[2026-10-11 06:25:34.795] [moveit_pro_license] [info] ×2 + 10.35sINFOcomponent_container_mt************************************************* ×4 + 10.35sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.35sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793783 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793783 ms (missed cycles : 2).[0m ×2 + 10.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 10.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 10.40sINFOros2-21process has finished cleanly [pid 8083] ×2 + 10.44sINFOglobal_costmap.global_costmapstart + 10.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.49sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.50sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.50sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.50sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.73sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.73sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.78sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 10.78sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 10.80sINFOros2-20process has finished cleanly [pid 8082] ×2 + 10.85sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 10.85sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 10.85sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 10.85sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 10.86sINFOplatform_velocity_controller_nav2configure successful + 10.86sINFOros2_control_nodeconfigure successful[0m ×6 + 10.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.17sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.17sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.17sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.17sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 11.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 11.19sINFOros2-19process has finished cleanly [pid 8079] ×2 + 11.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.24sINFOforce_torque_sensor_broadcasterconfigure successful + 11.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385736 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385736 ms (missed cycles : 2).[0m ×2 + 11.50sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.50sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.59sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.59sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.59sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.59sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 11.60sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 11.60sINFOros2-14process has finished cleanly [pid 8072] ×2 + 11.61sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.61sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.61sINFObehavior_serverActivating + 11.61sINFObehavior_serverActivating spin + 11.61sINFObehavior_serverActivating backup + 11.61sINFObehavior_serverActivating drive_on_heading + 11.61sINFObehavior_serverActivating assisted_teleop + 11.61sINFObehavior_serverActivating wait + 11.61sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.66sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.66sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.67sINFOplatform_velocity_controllerconfigure successful + 11.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.67sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.68sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.71sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.71sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.71sINFObt_navigatorActivating + 11.79sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.90sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.90sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.90sINFOwaypoint_followerActivating + 11.90sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.98sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.98sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.00sINFOvelocity_smootherActivating + 12.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.02sINFOros2-17process has finished cleanly [pid 8075] ×2 + 12.06sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 12.06sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 12.11sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.11sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.11sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.12sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.12sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669147 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669147 ms (missed cycles : 2).[0m ×2 + 12.53sINFOros2_control_node[2026-10-11 06:25:36.977] [info] Controller state will be published at 20 Hz. ×2 + 12.53sINFOros2_control_node[2026-10-11 06:25:36.978] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.85sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.85sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 12.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.85sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 12.90sINFOros2-24process has finished cleanly [pid 8103] ×2 + 12.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.91sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.91sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.91sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.34sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 13.36sINFOros2_control_node[2026-10-11 06:25:37.801] [info] Controller state will be published at 20 Hz. ×2 + 13.36sINFOros2_control_node[2026-10-11 06:25:37.802] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328853 ms (missed cycles : 4). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328853 ms (missed cycles : 4).[0m ×2 + 13.70sINFOros2-23process has finished cleanly [pid 8085] ×2 + 13.72sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.72sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.72sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m + 13.72sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.72sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__h92fw94 --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_ba1a57p9 --params-file /tmp/launch_params_r91quj1m [0m ×2 + 13.79sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.79sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.79sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.79sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 14.19sINFOros2_control_node[2026-10-11 06:25:38.637] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.19sINFOros2_control_node[2026-10-11 06:25:38.639] [info] Controller state will be published at 10 Hz. ×2 + 14.19sINFOros2_control_node[2026-10-11 06:25:38.640] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709986 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709986 ms (missed cycles : 3).[0m ×2 + 14.53sINFOros2-22process has finished cleanly [pid 8084] ×2 + 14.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 14.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 14.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 14.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 14.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 14.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 14.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 14.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 14.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 14.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 14.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688808 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688808 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703706 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703706 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 17.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 20.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 20.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 20.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 20.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 20.54sINFOobjective_server_nodecaller: ×10 + 20.54sINFOobjective_server_nodetype: 0 ×10 + 20.54sINFOobjective_server_nodename: "" ×10 + 20.54sINFOobjective_server_nodeinstance_id: "" ×10 + 20.54sINFOobjective_server_node ×10 + 20.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 20.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 20.58sINFOmove_groupClearing octomap...[0m ×4 + 20.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 20.58sINFOmove_groupOctomap cleared.[0m ×4 + 20.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 20.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 21.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 21.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 21.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 21.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 22.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 22.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 22.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 22.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 23.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 23.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 23.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 23.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 23.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 23.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 23.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 23.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 21 warnings · 337 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703706 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 1.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.97sINFOobjective_server_nodecaller: ×10 + 3.97sINFOobjective_server_nodetype: 0 ×10 + 3.97sINFOobjective_server_nodename: "" ×10 + 3.97sINFOobjective_server_nodeinstance_id: "" ×10 + 3.97sINFOobjective_server_node ×10 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.02sINFOmove_groupClearing octomap...[0m ×4 + 4.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×4 + 4.02sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 6.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass28 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 64.7s | 3 errors · 219 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251664 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251664 ms (missed cycles : 2).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.869ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227136 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227136 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.604ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512823 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512823 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_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 + 2.72sINFOjoint_trajectory_controllerGot request to cancel goal + 2.72sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_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: 1791700154.99753666 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1791700155009564135, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433663 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433663 ms (missed cycles : 3).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.539ms + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791700155.59214878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773362 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773362 ms (missed cycles : 2).[0m ×2 + 4.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.90sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 17.973ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070474 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070474 ms (missed cycles : 4).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600272 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600272 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699237 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699237 ms (missed cycles : 2).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.987ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955611 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955611 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.226ms + 9.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451939 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451939 ms (missed cycles : 3).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.840ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948232 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948232 ms (missed cycles : 2).[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.652ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351518 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351518 ms (missed cycles : 3).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.785ms + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.633ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853392 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853392 ms (missed cycles : 2).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.800ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038520 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038520 ms (missed cycles : 2).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.196ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218239 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218239 ms (missed cycles : 2).[0m ×2 + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.340ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476868 ms (missed cycles : 3). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476868 ms (missed cycles : 3).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.485ms + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342821 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342821 ms (missed cycles : 3).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.313ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805838 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805838 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.338ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553481 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553481 ms (missed cycles : 2).[0m ×2 + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.175ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137087 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137087 ms (missed cycles : 2).[0m ×2 + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.115ms + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982855 ms (missed cycles : 2). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982855 ms (missed cycles : 2).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.841ms + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.668ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044268 ms (missed cycles : 3). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044268 ms (missed cycles : 3).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.438ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784710 ms (missed cycles : 3). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784710 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.920ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.404632 ms (missed cycles : 4). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.404632 ms (missed cycles : 4).[0m ×2 + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.073ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704269 ms (missed cycles : 2). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704269 ms (missed cycles : 2).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.289ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147506 ms (missed cycles : 2). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147506 ms (missed cycles : 2).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.133ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.611ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678167 ms (missed cycles : 3). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678167 ms (missed cycles : 3).[0m ×2 + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.051ms + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760121 ms (missed cycles : 2). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760121 ms (missed cycles : 2).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.382ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734868 ms (missed cycles : 4). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734868 ms (missed cycles : 4).[0m ×2 + 30.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.491ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917156 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917156 ms (missed cycles : 2).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.176ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744528 ms (missed cycles : 2). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744528 ms (missed cycles : 2).[0m ×2 + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.801ms + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045091 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045091 ms (missed cycles : 3).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438709 ms (missed cycles : 4). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438709 ms (missed cycles : 4).[0m ×2 + 34.25sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.25sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.210ms + 34.55sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807979 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807979 ms (missed cycles : 2).[0m ×2 + 35.96sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845870 ms (missed cycles : 3). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845870 ms (missed cycles : 3).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419245 ms (missed cycles : 2). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419245 ms (missed cycles : 2).[0m ×2 + 38.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.931ms + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054653 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054653 ms (missed cycles : 2).[0m ×2 + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857879 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857879 ms (missed cycles : 3).[0m ×2 + 39.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 40.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.672ms + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569545 ms (missed cycles : 3). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569545 ms (missed cycles : 3).[0m ×2 + 41.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.019ms + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776349 ms (missed cycles : 4). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776349 ms (missed cycles : 4).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.166ms + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311283 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311283 ms (missed cycles : 2).[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182671 ms (missed cycles : 3). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182671 ms (missed cycles : 3).[0m ×2 + 44.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.867ms + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520115 ms (missed cycles : 2). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520115 ms (missed cycles : 2).[0m ×2 + 45.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.968ms + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100170 ms (missed cycles : 3). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100170 ms (missed cycles : 3).[0m ×2 + 46.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.258ms + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770081 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770081 ms (missed cycles : 2).[0m ×2 + 47.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.389ms + 47.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.597ms + 47.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.502ms + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928481 ms (missed cycles : 3). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928481 ms (missed cycles : 3).[0m ×2 + 48.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.437ms + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961027 ms (missed cycles : 3). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961027 ms (missed cycles : 3).[0m ×2 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825526 ms (missed cycles : 2). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825526 ms (missed cycles : 2).[0m ×2 + 51.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521483 ms (missed cycles : 3). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521483 ms (missed cycles : 3).[0m ×2 + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732091 ms (missed cycles : 3). + 52.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732091 ms (missed cycles : 3).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674093 ms (missed cycles : 4). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674093 ms (missed cycles : 4).[0m ×2 + 53.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 54.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.038ms + 54.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.050ms + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873952 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873952 ms (missed cycles : 2).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.685ms + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.632ms + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840390 ms (missed cycles : 5). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840390 ms (missed cycles : 5).[0m ×2 + 56.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.912ms + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116941 ms (missed cycles : 2). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116941 ms (missed cycles : 2).[0m ×2 + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036608 ms (missed cycles : 3). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036608 ms (missed cycles : 3).[0m ×2 + 58.13sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 59.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474025 ms (missed cycles : 2). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474025 ms (missed cycles : 2).[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.694ms + 60.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793641 ms (missed cycles : 4). + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793641 ms (missed cycles : 4).[0m ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560224 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560224 ms (missed cycles : 3).[0m ×2 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651526 ms (missed cycles : 2). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651526 ms (missed cycles : 2).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.742ms + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135519 ms (missed cycles : 5). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135519 ms (missed cycles : 5).[0m ×2 + 64.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.733ms + 64.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184968 ms (missed cycles : 3). + 64.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184968 ms (missed cycles : 3).[0m ×2 + 65.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.954ms + 65.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679195 ms (missed cycles : 3). + 65.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679195 ms (missed cycles : 3).[0m ×2 + 65.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.270ms + 65.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 66.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441862 ms (missed cycles : 3). + 66.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441862 ms (missed cycles : 3).[0m ×2 + 66.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.532ms + 67.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.967ms + 67.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353040 ms (missed cycles : 2). + 67.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353040 ms (missed cycles : 2).[0m ×2 + 67.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791700219.70235133 seconds ×3 + 67.50sINFOstate_estimatorReceived a set_pose request (stamp: 1791700219721404844, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 67.53sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.53) is out of map bounds (-3.40, 1.10) to (1.58, 6.08). The costmap cannot raytrace for it. + 67.53sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.37) is out of map bounds (-3.40, 1.10) to (1.58, 6.08). The costmap cannot raytrace for it. + 67.63sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.53) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 67.63sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.37) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 67.73sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 67.73sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.02sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791700220.29430223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.06sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.242ms + 68.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122168 ms (missed cycles : 2). + 68.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122168 ms (missed cycles : 2).[0m ×2 + 69.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639340 ms (missed cycles : 3). + 69.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639340 ms (missed cycles : 3).[0m ×2 + 69.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 69.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547747, y=-0.0155635, yaw=-0.0112729 + 69.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 70.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.246ms + 70.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825407 ms (missed cycles : 3). + 70.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825407 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 186 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.32sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.52sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.52sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949377 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949377 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857235 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857235 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.177ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974974 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974974 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.808ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499192 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499192 ms (missed cycles : 3).[0m ×2 + 9.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.329ms + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.990ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793243 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793243 ms (missed cycles : 2).[0m ×2 + 11.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.703ms + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454955 ms (missed cycles : 3). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454955 ms (missed cycles : 3).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.464ms + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263798 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263798 ms (missed cycles : 2).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.828ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483025 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483025 ms (missed cycles : 3).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.349ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885839 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885839 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.293ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036510 ms (missed cycles : 4). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036510 ms (missed cycles : 4).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.908ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086873 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086873 ms (missed cycles : 3).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.093ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569515 ms (missed cycles : 4). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569515 ms (missed cycles : 4).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.506ms + 18.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687699 ms (missed cycles : 5). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687699 ms (missed cycles : 5).[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.394ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.436ms + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812093 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812093 ms (missed cycles : 2).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.125ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739449 ms (missed cycles : 3). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739449 ms (missed cycles : 3).[0m ×2 + 21.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.653ms + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776516 ms (missed cycles : 2). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776516 ms (missed cycles : 2).[0m ×2 + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.355ms + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729811 ms (missed cycles : 2). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729811 ms (missed cycles : 2).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.323ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048525 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048525 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.466ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005989 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005989 ms (missed cycles : 3).[0m ×2 + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.140ms + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.863ms + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869146 ms (missed cycles : 3). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869146 ms (missed cycles : 3).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.430ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674623 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674623 ms (missed cycles : 3).[0m ×2 + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.923ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157157 ms (missed cycles : 4). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157157 ms (missed cycles : 4).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897146 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897146 ms (missed cycles : 2).[0m ×2 + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.318ms + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.452ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546130 ms (missed cycles : 3). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546130 ms (missed cycles : 3).[0m ×2 + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.634ms + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745195 ms (missed cycles : 5). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745195 ms (missed cycles : 5).[0m ×2 + 32.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.884ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316549 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316549 ms (missed cycles : 2).[0m ×2 + 33.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.463ms + 33.93sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006149 ms (missed cycles : 5). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006149 ms (missed cycles : 5).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377351 ms (missed cycles : 4). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377351 ms (missed cycles : 4).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216618 ms (missed cycles : 2). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216618 ms (missed cycles : 2).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180366 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180366 ms (missed cycles : 2).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662431 ms (missed cycles : 2). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662431 ms (missed cycles : 2).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364805 ms (missed cycles : 3). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364805 ms (missed cycles : 3).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970141 ms (missed cycles : 2). + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970141 ms (missed cycles : 2).[0m ×2 + 40.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.081ms + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722715 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722715 ms (missed cycles : 3).[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138451 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138451 ms (missed cycles : 2).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237669 ms (missed cycles : 2). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237669 ms (missed cycles : 2).[0m ×2 + 43.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.625ms + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724272 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724272 ms (missed cycles : 2).[0m ×2 + 45.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.945ms + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411638 ms (missed cycles : 4). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411638 ms (missed cycles : 4).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657283 ms (missed cycles : 4). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657283 ms (missed cycles : 4).[0m ×2 + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.043ms + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677439 ms (missed cycles : 4). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677439 ms (missed cycles : 4).[0m ×2 + 47.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.414ms + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943307 ms (missed cycles : 2). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943307 ms (missed cycles : 2).[0m ×2 + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456617 ms (missed cycles : 3). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456617 ms (missed cycles : 3).[0m ×2 + 50.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.061ms + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935020 ms (missed cycles : 3). + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935020 ms (missed cycles : 3).[0m ×2 + 51.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.403ms + 52.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187758 ms (missed cycles : 2). + 52.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187758 ms (missed cycles : 2).[0m ×2 + 53.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784968 ms (missed cycles : 4). + 53.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784968 ms (missed cycles : 4).[0m ×2 + 54.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844901 ms (missed cycles : 4). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844901 ms (missed cycles : 4).[0m ×2 + 54.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.970ms + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860267 ms (missed cycles : 3). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860267 ms (missed cycles : 3).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.336ms + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761771 ms (missed cycles : 2). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761771 ms (missed cycles : 2).[0m ×2 + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044937 ms (missed cycles : 2). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044937 ms (missed cycles : 2).[0m ×2 + 58.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 58.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536518 ms (missed cycles : 2). + 58.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536518 ms (missed cycles : 2).[0m ×2 + 59.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.249ms + 59.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791700283.35326624 seconds ×3 + 59.59sINFOstate_estimatorReceived a set_pose request (stamp: 1791700283366942559, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359666 ms (missed cycles : 3). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359666 ms (missed cycles : 3).[0m ×2 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.649ms + 60.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.10sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791700283.94696188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.55sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859698 ms (missed cycles : 2). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859698 ms (missed cycles : 2).[0m ×2 + 60.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 61.70sINFOamclInitializing particles from estimated pose and covariance + 61.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 61.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550192, y=-0.0166483, yaw=-0.0173175 + 61.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485752 ms (missed cycles : 3). + 61.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485752 ms (missed cycles : 3).[0m ×2 + 62.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.086ms + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882652 ms (missed cycles : 3). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882652 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 188 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.768ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414528 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414528 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.501ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.430ms + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166432 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166432 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.024ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699996.75223303 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791699996775619410, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709598 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709598 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.66sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 8.391ms + 3.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.66sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699997.35341620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568981, y=-0.0171796, yaw=-0.0183989 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.248ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113534 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113534 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200915 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200915 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642317 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642317 ms (missed cycles : 4).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273659 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273659 ms (missed cycles : 2).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 8.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803432 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803432 ms (missed cycles : 2).[0m ×2 + 9.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996649 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996649 ms (missed cycles : 3).[0m ×2 + 10.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 10.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.266ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693028 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693028 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.820ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123848 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123848 ms (missed cycles : 3).[0m ×2 + 12.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.104ms ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873723 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873723 ms (missed cycles : 3).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.831ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960873 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960873 ms (missed cycles : 2).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.216ms + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.837ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888557 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888557 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.558ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329160 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329160 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637076 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637076 ms (missed cycles : 3).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442086 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442086 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.196ms + 19.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.499ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231554 ms (missed cycles : 4). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231554 ms (missed cycles : 4).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.182ms + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165685 ms (missed cycles : 3). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165685 ms (missed cycles : 3).[0m ×2 + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066949 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066949 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.433ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697692 ms (missed cycles : 3). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697692 ms (missed cycles : 3).[0m ×2 + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.228ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131632 ms (missed cycles : 4). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131632 ms (missed cycles : 4).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.260ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.372ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633040 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633040 ms (missed cycles : 3).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.122ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689594 ms (missed cycles : 4). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689594 ms (missed cycles : 4).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.358ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348965 ms (missed cycles : 3). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348965 ms (missed cycles : 3).[0m ×2 + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.234ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108990 ms (missed cycles : 3). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108990 ms (missed cycles : 3).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048563 ms (missed cycles : 2). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048563 ms (missed cycles : 2).[0m ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.936ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368942 ms (missed cycles : 3). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368942 ms (missed cycles : 3).[0m ×2 + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.907ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750215 ms (missed cycles : 2). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750215 ms (missed cycles : 2).[0m ×2 + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.462ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702757 ms (missed cycles : 3). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702757 ms (missed cycles : 3).[0m ×2 + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.840ms + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618003 ms (missed cycles : 3). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618003 ms (missed cycles : 3).[0m ×2 + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.938ms + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281614 ms (missed cycles : 2). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281614 ms (missed cycles : 2).[0m ×2 + 34.50sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.185ms + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554017 ms (missed cycles : 4). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554017 ms (missed cycles : 4).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508273 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508273 ms (missed cycles : 2).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556208 ms (missed cycles : 2). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556208 ms (missed cycles : 2).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904995 ms (missed cycles : 2). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904995 ms (missed cycles : 2).[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659816 ms (missed cycles : 3). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659816 ms (missed cycles : 3).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094682 ms (missed cycles : 2). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094682 ms (missed cycles : 2).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232120 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232120 ms (missed cycles : 3).[0m ×2 + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.633ms + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936372 ms (missed cycles : 3). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936372 ms (missed cycles : 3).[0m ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881487 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881487 ms (missed cycles : 3).[0m ×2 + 44.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.112ms + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074389 ms (missed cycles : 2). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074389 ms (missed cycles : 2).[0m ×2 + 45.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.464ms + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907866 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907866 ms (missed cycles : 2).[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221825 ms (missed cycles : 4). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221825 ms (missed cycles : 4).[0m ×2 + 47.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.038ms + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902383 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902383 ms (missed cycles : 2).[0m ×2 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679201 ms (missed cycles : 3). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679201 ms (missed cycles : 3).[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609230 ms (missed cycles : 3). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609230 ms (missed cycles : 3).[0m ×2 + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070677 ms (missed cycles : 2). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070677 ms (missed cycles : 2).[0m ×2 + 51.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.832ms + 52.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.469056 ms (missed cycles : 4). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.469056 ms (missed cycles : 4).[0m ×2 + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830229 ms (missed cycles : 3). + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830229 ms (missed cycles : 3).[0m ×2 + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760050 ms (missed cycles : 3). + 54.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760050 ms (missed cycles : 3).[0m ×2 + 55.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.668ms + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122760 ms (missed cycles : 2). + 55.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122760 ms (missed cycles : 2).[0m ×2 + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524509 ms (missed cycles : 3). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524509 ms (missed cycles : 3).[0m ×2 + 57.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 58.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 58.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 59.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 60.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 60.12sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 60.27sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.27sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 60.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.96sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 60.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 61.10sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 61.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 61.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 62.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 63.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 63.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.4s | 187 warnings · 223 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700092.62828302 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2).[0m ×2 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791700092649828011, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.634ms + 3.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.71sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700093.23413658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.172ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129967 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129967 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149428 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149428 ms (missed cycles : 2).[0m ×2 + 8.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.306ms + 9.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.549ms + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790624 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790624 ms (missed cycles : 2).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.300ms + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.172ms + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919222 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919222 ms (missed cycles : 3).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.792ms + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708245 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708245 ms (missed cycles : 2).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.474ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319127 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319127 ms (missed cycles : 3).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.581ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010817 ms (missed cycles : 5). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010817 ms (missed cycles : 5).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969582 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969582 ms (missed cycles : 3).[0m ×2 + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.594ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.687ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352025 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352025 ms (missed cycles : 2).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.471ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948598 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948598 ms (missed cycles : 2).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805641 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805641 ms (missed cycles : 3).[0m ×2 + 18.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.331ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.035ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593776 ms (missed cycles : 3). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593776 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.151ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968228 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968228 ms (missed cycles : 3).[0m ×2 + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.234ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854578 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854578 ms (missed cycles : 3).[0m ×2 + 22.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.757ms + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.729ms + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187417 ms (missed cycles : 2). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187417 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782580 ms (missed cycles : 5). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782580 ms (missed cycles : 5).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.462ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421005 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421005 ms (missed cycles : 3).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218979 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218979 ms (missed cycles : 2).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.618ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185362 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185362 ms (missed cycles : 2).[0m ×2 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.764ms + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.090ms + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250760 ms (missed cycles : 4). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250760 ms (missed cycles : 4).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.303ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894402 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894402 ms (missed cycles : 2).[0m ×2 + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.006ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701967 ms (missed cycles : 2). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701967 ms (missed cycles : 2).[0m ×2 + 30.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.316ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529361 ms (missed cycles : 3). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529361 ms (missed cycles : 3).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.633ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913199 ms (missed cycles : 2). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913199 ms (missed cycles : 2).[0m ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.290ms + 32.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973967 ms (missed cycles : 3). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973967 ms (missed cycles : 3).[0m ×2 + 33.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.432ms + 34.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.649ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264473 ms (missed cycles : 4). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264473 ms (missed cycles : 4).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582436 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582436 ms (missed cycles : 3).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666480 ms (missed cycles : 3). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666480 ms (missed cycles : 3).[0m ×2 + 36.93sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096421 ms (missed cycles : 2). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096421 ms (missed cycles : 2).[0m ×2 + 37.86sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707666 ms (missed cycles : 3). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707666 ms (missed cycles : 3).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972270 ms (missed cycles : 3). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972270 ms (missed cycles : 3).[0m ×2 + 39.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.768ms + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779373 ms (missed cycles : 3). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779373 ms (missed cycles : 3).[0m ×2 + 40.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.367ms + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737985 ms (missed cycles : 4). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737985 ms (missed cycles : 4).[0m ×2 + 41.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.292ms + 42.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.243ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354942 ms (missed cycles : 3). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354942 ms (missed cycles : 3).[0m ×2 + 42.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.974ms + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800878 ms (missed cycles : 2). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800878 ms (missed cycles : 2).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750864 ms (missed cycles : 2). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750864 ms (missed cycles : 2).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029566 ms (missed cycles : 4). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029566 ms (missed cycles : 4).[0m ×2 + 46.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.975ms + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150361 ms (missed cycles : 2). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150361 ms (missed cycles : 2).[0m ×2 + 46.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 47.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.870ms + 47.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.614ms + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164921 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164921 ms (missed cycles : 2).[0m ×2 + 48.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.225ms + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.200ms + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204535 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204535 ms (missed cycles : 2).[0m ×2 + 49.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.747ms + 49.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.720ms + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930515 ms (missed cycles : 2). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930515 ms (missed cycles : 2).[0m ×2 + 50.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.719ms + 50.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217244 ms (missed cycles : 2). + 50.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217244 ms (missed cycles : 2).[0m ×2 + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365293 ms (missed cycles : 4). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365293 ms (missed cycles : 4).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.728ms + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277350 ms (missed cycles : 2). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277350 ms (missed cycles : 2).[0m ×2 + 53.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.542ms + 54.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894917 ms (missed cycles : 2). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894917 ms (missed cycles : 2).[0m ×2 + 54.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791700143.99428010 seconds ×3 + 54.50sINFOstate_estimatorReceived a set_pose request (stamp: 1791700144013339475, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 54.54sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.58) is out of map bounds (-4.05, 4.60) to (0.93, 9.58). The costmap cannot raytrace for it. + 54.54sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.10) is out of map bounds (-4.05, 4.60) to (0.93, 9.58). The costmap cannot raytrace for it. + 54.64sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 54.64sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 54.84sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 54.84sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791700144.60234594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867575 ms (missed cycles : 2). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867575 ms (missed cycles : 2).[0m ×2 + 55.21sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.016ms + 55.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 55.50sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 55.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.475ms + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005147 ms (missed cycles : 5). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005147 ms (missed cycles : 5).[0m ×2 + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290960 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290960 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 427 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658098 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658098 ms (missed cycles : 2).[0m ×2 + 7.76sINFOamclParticle filter update iteration stats: 1054 particles 811 points - 8.893ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188526 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188526 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857559 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857559 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047483 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047483 ms (missed cycles : 2).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670803 ms (missed cycles : 5). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670803 ms (missed cycles : 5).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782061 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782061 ms (missed cycles : 2).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775924 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775924 ms (missed cycles : 2).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004557 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004557 ms (missed cycles : 2).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712595 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712595 ms (missed cycles : 2).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200742 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200742 ms (missed cycles : 2).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027893 ms (missed cycles : 4). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027893 ms (missed cycles : 4).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158467 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158467 ms (missed cycles : 3).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025382 ms (missed cycles : 2). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025382 ms (missed cycles : 2).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969045 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969045 ms (missed cycles : 3).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908861 ms (missed cycles : 2). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908861 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109297 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109297 ms (missed cycles : 2).[0m ×2 + 23.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.963ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852099 ms (missed cycles : 2). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852099 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952852 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952852 ms (missed cycles : 2).[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521403 ms (missed cycles : 4). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521403 ms (missed cycles : 4).[0m ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822119 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822119 ms (missed cycles : 3).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815147 ms (missed cycles : 4). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815147 ms (missed cycles : 4).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307168 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307168 ms (missed cycles : 2).[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080050 ms (missed cycles : 2). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080050 ms (missed cycles : 2).[0m ×2 + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404436 ms (missed cycles : 3). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404436 ms (missed cycles : 3).[0m ×2 + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638986 ms (missed cycles : 3). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638986 ms (missed cycles : 3).[0m ×2 + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161723 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161723 ms (missed cycles : 2).[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463855 ms (missed cycles : 2). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463855 ms (missed cycles : 2).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774026 ms (missed cycles : 2). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774026 ms (missed cycles : 2).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731277 ms (missed cycles : 4). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731277 ms (missed cycles : 4).[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879358 ms (missed cycles : 2). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879358 ms (missed cycles : 2).[0m ×2 + 37.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.536ms + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562104 ms (missed cycles : 3). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562104 ms (missed cycles : 3).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043947 ms (missed cycles : 2). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043947 ms (missed cycles : 2).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667256 ms (missed cycles : 3). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667256 ms (missed cycles : 3).[0m ×2 + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187860 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187860 ms (missed cycles : 3).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694138 ms (missed cycles : 3). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694138 ms (missed cycles : 3).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2).[0m ×2 + 46.70sINFOjoint_trajectory_controllerGoal reached, success! + 46.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699990.61296320 seconds ×3 + 46.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3).[0m ×2 + 46.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791699990629681666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.408ms + 47.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.25sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699991.19210672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4).[0m ×2 + 48.41sINFOobjective_server_nodeFound path in 0 iterations (2.096e-05 s). ×2 + 48.47sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2).[0m ×2 + 48.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg) + 48.87sINFOamclInitializing particles from estimated pose and covariance + 48.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg)[0m ×2 + 48.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0456971, y=-0.0231095, yaw=0.00394124 + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.304ms + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.593ms + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4).[0m ×2 + 49.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 50.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 119 warnings · 179 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633020 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138551 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138551 ms (missed cycles : 2).[0m ×2 + 2.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.19sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791700060.16715336 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227731 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227731 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485481 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485481 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791700061.75805569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795162 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795162 ms (missed cycles : 2).[0m ×2 + 4.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957252 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957252 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456007 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456007 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466320 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466320 ms (missed cycles : 3).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.027ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969968 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969968 ms (missed cycles : 3).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.899ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762012 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762012 ms (missed cycles : 2).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.332ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738959 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738959 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.209ms + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.274ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064213 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064213 ms (missed cycles : 2).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.040ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237331 ms (missed cycles : 4). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237331 ms (missed cycles : 4).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.562ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567760 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567760 ms (missed cycles : 2).[0m ×2 + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932350 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932350 ms (missed cycles : 2).[0m ×2 + 15.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.783ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478728 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478728 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.479ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.030931 ms (missed cycles : 6). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.030931 ms (missed cycles : 6).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.442ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.993ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947694 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947694 ms (missed cycles : 2).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.538ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143902 ms (missed cycles : 5). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143902 ms (missed cycles : 5).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.360ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111957 ms (missed cycles : 2). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111957 ms (missed cycles : 2).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.839ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768481 ms (missed cycles : 5). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768481 ms (missed cycles : 5).[0m ×2 + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.142ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930921 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930921 ms (missed cycles : 3).[0m ×2 + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.278ms + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.220ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346115 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346115 ms (missed cycles : 3).[0m ×2 + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.956ms + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965310 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965310 ms (missed cycles : 2).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.821ms + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045380 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045380 ms (missed cycles : 2).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.572ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.205ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758102 ms (missed cycles : 2). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758102 ms (missed cycles : 2).[0m ×2 + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.622ms + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446477 ms (missed cycles : 4). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446477 ms (missed cycles : 4).[0m ×2 + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.078ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345204 ms (missed cycles : 3). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345204 ms (missed cycles : 3).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.385ms + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192699 ms (missed cycles : 2). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192699 ms (missed cycles : 2).[0m ×2 + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.477ms + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.821ms + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914281 ms (missed cycles : 3). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914281 ms (missed cycles : 3).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.203ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2).[0m ×2 + 33.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 34.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700092.62828302 seconds ×3 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2).[0m ×2 + 34.69sINFOstate_estimatorReceived a set_pose request (stamp: 1791700092649828011, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.88sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.88sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.24sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.634ms + 35.24sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.24sINFOamclInitializing particles from estimated pose and covariance + 35.24sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 35.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700093.23413658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.172ms + 35.65sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.2s | 72 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761771 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761771 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044937 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044937 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536518 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536518 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.249ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791700283.35326624 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1791700283366942559, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359666 ms (missed cycles : 3).[0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.649ms + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.71sINFOobjective_server_nodecaller: ×6 + 3.71sINFOobjective_server_nodetype: 0 ×6 + 3.71sINFOobjective_server_nodename: "" ×6 + 3.71sINFOobjective_server_nodeinstance_id: "" ×6 + 3.71sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791700283.94696188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859698 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859698 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.31sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.31sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550192, y=-0.0166483, yaw=-0.0173175 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485752 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485752 ms (missed cycles : 3).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.086ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882652 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882652 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544411 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544411 ms (missed cycles : 4).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511972 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511972 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861289 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861289 ms (missed cycles : 4).[0m ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 10.38sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.42sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979476 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979476 ms (missed cycles : 3).[0m ×2 + 10.57sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 11.32sINFOobjective_server_nodeFound path in 33 iterations (0.0418322 s). ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988418 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988418 ms (missed cycles : 3).[0m ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 12.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.59sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944200 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944200 ms (missed cycles : 2).[0m ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.37sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610982 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610982 ms (missed cycles : 3).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928129 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928129 ms (missed cycles : 3).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.979ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489859 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489859 ms (missed cycles : 3).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.737ms + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065199 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065199 ms (missed cycles : 2).[0m ×2 + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.535ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4).[0m ×2 + 19.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700299.54752421 seconds ×3 + 19.40sINFOstate_estimatorReceived a set_pose request (stamp: 1791700299566178317, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.91sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.97sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 7.444ms + 19.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 19.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 19.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184002 + 19.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700300.16952491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.99sINFOmove_groupClearing octomap...[0m ×2 + 19.99sINFOmove_groupOctomap cleared.[0m ×2 + 20.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.705ms + 20.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700301.02965498 seconds ×3 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3).[0m ×2 + 21.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700301.61247683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700302.24260950 seconds ×3 + 22.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 71 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365293 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365293 ms (missed cycles : 4).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.728ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277350 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277350 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.542ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894917 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894917 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791700143.99428010 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×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 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1791700144013339475, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.58) is out of map bounds (-4.05, 4.60) to (0.93, 9.58). The costmap cannot raytrace for it. + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.10) is out of map bounds (-4.05, 4.60) to (0.93, 9.58). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×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 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791700144.60234594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867575 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867575 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.016ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.20sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.475ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005147 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005147 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290960 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290960 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168595 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168595 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439770 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439770 ms (missed cycles : 2).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.194ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964363 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964363 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.779ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.149ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969432 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969432 ms (missed cycles : 4).[0m ×2 + 10.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.230ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251664 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251664 ms (missed cycles : 2).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.869ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227136 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227136 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.604ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512823 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512823 ms (missed cycles : 3).[0m ×2 + 13.42sINFOobjective_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 + 13.42sINFOjoint_trajectory_controllerGot request to cancel goal + 13.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.47sERRORobjective_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: 1791700154.99753666 seconds ×3 + 13.49sINFOstate_estimatorReceived a set_pose request (stamp: 1791700155009564135, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 13.63sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.63sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433663 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433663 ms (missed cycles : 3).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.539ms + 14.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791700155.59214878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773362 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773362 ms (missed cycles : 2).[0m ×2 + 15.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 17.973ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070474 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070474 ms (missed cycles : 4).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600272 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600272 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 106 errors · 30 warnings · 561 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.535ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4).[0m ×2 + 1.18sINFOjoint_trajectory_controllerGoal reached, success! + 1.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700299.54752421 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.23sINFOstate_estimatorReceived a set_pose request (stamp: 1791700299566178317, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.75sINFOobjective_server_nodecaller: ×4 + 1.75sINFOobjective_server_nodetype: 0 ×4 + 1.75sINFOobjective_server_nodename: "" ×4 + 1.75sINFOobjective_server_nodeinstance_id: "" ×4 + 1.75sINFOobjective_server_node ×4 + 1.80sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 7.444ms + 1.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.81sINFOamclInitializing particles from estimated pose and covariance + 1.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184002 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700300.16952491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.705ms + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700301.02965498 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700301.61247683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700302.24260950 seconds ×3 + 4.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965950 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965950 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187051 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187051 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062650 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062650 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115917 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115917 ms (missed cycles : 2).[0m ×2 + 9.43sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.43sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.43sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.43sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.43sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 9.46sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORweb_video_auth_proxy-41process has died [pid 8153, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.46sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 9.48sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.48sERRORweb_bridge_auth_proxy-40process has died [pid 8152, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.48sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.48sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 9.50sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 9.51sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 9.52sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 9.53sINFOvideo_server-39process has finished cleanly [pid 8151] ×2 + 9.53sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 9.55sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 9.56sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 9.57sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 9.58sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.59sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 9.60sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 9.61sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 9.63sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 9.64sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028708 ms (missed cycles : 4). + 9.65sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 9.67sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 9.67sINFOcontroller_managerShutdown request received.... + 9.67sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.67sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.67sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.67sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.67sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.67sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.67sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.67sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.67sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.67sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.67sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.67sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.67sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.67sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.67sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.67sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.67sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.67sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.67sINFOcontroller_managerShutting down the controller manager. + 9.68sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 9.70sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 9.71sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 9.72sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 9.73sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 9.74sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 9.75sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 9.76sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 9.77sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 9.77sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8149] ×2 + 9.78sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 9.79sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.80sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 9.80sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.80sINFOmap_serverDeactivating + 9.80sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.81sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.81sINFOmap_serverCleaning up + 9.81sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 9.81sINFOvideo_server2026/10/11 06:31:47 INF shutting down gracefully ×2 + 9.81sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.81sINFOvideo_server2026/10/11 06:31:47 INF [WebRTC] closing ×2 + 9.81sINFOvideo_server2026/10/11 06:31:47 INF [RTSP] closing ×2 + 9.81sINFOvideo_server2026/10/11 06:31:47 INF waiting for running hooks ×2 + 9.81sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.81sINFOcontroller_serverDeactivating + 9.81sINFOlocal_costmap.local_costmapDeactivating + 9.81sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.82sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.82sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028708 ms (missed cycles : 4).[0m ×2 + 9.82sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.82sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 9.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.82sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.82sINFOmove_groupDeleting MoveItCpp[0m ×2 + 9.82sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 9.82sINFOmove_groupStopping world geometry monitor[0m ×2 + 9.82sINFOmove_groupStopping planning scene monitor[0m ×2 + 9.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.82sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 9.82sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 9.82sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 9.82sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 9.82sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 9.82sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.82sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 9.82sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 9.83sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.83sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 9.83sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.83sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 9.83sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.83sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.83sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.83sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.83sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 9.83sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 9.83sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.83sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 9.83sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 9.83sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 9.83sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 9.83sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 9.83sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.83sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 9.83sINFOtf_visualization_relayrclpy.spin(node) ×2 + 9.83sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.83sINFOtf_visualization_relayexecutor.spin_once() ×2 + 9.83sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.83sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 9.83sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.83sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.83sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.83sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.83sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 9.83sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 9.83sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.83sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 9.83sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 9.83sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 9.83sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOcontroller_serverCleaning up + 9.83sINFOlocal_costmap.local_costmapCleaning up + 9.83sERRORamclThe bond connection to the lifecycle manager has been broken + 9.83sERRORjoint_state_visualization_relay-37process has died [pid 8148, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_kv0cx0dh']. ×2 + 9.83sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 9.84sERRORtf_visualization_relay-36process has died [pid 8147, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_0wg9udql']. ×2 + 9.84sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 9.84sINFOui_teleop_bridge-34process has finished cleanly [pid 8145] ×2 + 9.85sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8136] ×2 + 9.86sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8135] ×2 + 9.86sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.86sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 9.87sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 9.87sINFOexecute_objective_bridge-33process has finished cleanly [pid 8144] ×2 + 9.88sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.88sINFOsmoother_serverDeactivating + 9.88sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 9.88sINFOparameter_manager_node-26process has finished cleanly [pid 8133] ×2 + 9.88sINFOwaypoint_manager_node-27process has finished cleanly [pid 8134] ×2 + 9.89sINFOsmoother_serverCleaning up + 9.90sINFOobjective_server_node[2026-10-11 06:31:48.238] [moveit_pro_license] [critical] ×2 + 9.90sINFOobjective_server_node************************************************* ×4 + 9.90sINFOobjective_server_node* MoveIt Pro License ×2 + 9.90sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 9.90sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 9.90sINFOplanner_serverDeactivating + 9.90sINFOglobal_costmap.global_costmapDeactivating + 9.92sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8070] ×2 + 9.92sINFOcomponent_container_mt-32process has finished cleanly [pid 8140] ×2 + 9.93sINFOrelay-11process has finished cleanly [pid 8069] ×2 + 9.94sINFOrelay-10process has finished cleanly [pid 8068] ×2 + 9.95sINFOcomponent_container_mt-31process has finished cleanly [pid 8139] ×2 + 9.96sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7964] ×2 + 9.97sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7963] ×2 + 9.98sINFOstatic_transform_publisher-7process has finished cleanly [pid 7962] ×2 + 9.98sINFOobjective_server_node_main-30process has finished cleanly [pid 8137] ×2 + 9.98sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 9.99sINFOstatic_transform_publisher-6process has finished cleanly [pid 7961] ×2 + 9.99sINFOmove_group-25process has finished cleanly [pid 8132] ×2 + 10.00sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.00sINFOlidar_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 + 10.00sINFOlidar_flattener.pymain() ×2 + 10.00sINFOlidar_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 + 10.00sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.00sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.00sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.00sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.00sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.00sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.00sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.00sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.00sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.01sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.01sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.01sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.01sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.01sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.01sINFOvelocity_smootherDeactivating + 10.01sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.02sINFOstatic_transform_publisher-3process has finished cleanly [pid 7958] ×2 + 10.04sERRORlidar_flattener.py-5process has died [pid 7960, 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_j4opq70p']. ×2 + 10.11sINFOodom_world_drift-4process has finished cleanly [pid 7959] ×2 + 10.12sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.12sINFOwaypoint_followerDeactivating + 10.12sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.23sERRORcomponent_container_isolated-2process has died [pid 7957, 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_spfft3hl --params-file /tmp/launch_params_eowa6ikj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.24sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.24sINFObt_navigatorDeactivating + 10.24sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.35sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.35sINFObehavior_serverDeactivating + 10.35sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.46sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.46sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.46sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.46sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.46sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.46sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.46sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.47sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.47sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.47sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.47sINFOvelocity_smootherCleaning up + 10.47sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.47sINFOwaypoint_followerCleaning up + 10.49sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.49sINFObt_navigatorCleaning up + 10.55sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.55sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.55sINFOros2_control_node-13process has finished cleanly [pid 8071] ×2 + 10.56sINFOplanner_serverCleaning up + 10.57sINFOglobal_costmap.global_costmapCleaning up + 10.58sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.58sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.61sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.61sINFObehavior_serverCleaning up + 10.61sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.61sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.61sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.66sINFObt_navigatorCompleted Cleaning up + 10.66sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.72sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.72sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.72sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.72sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.99sERRORcomponent_container_isolated-1process has died [pid 7956, 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_spfft3hl --params-file /tmp/launch_params_ii4liwd_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.55sINFOweb_bridge-35process has finished cleanly [pid 8146] ×2 + 12.56sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 47 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.29sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633020 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633020 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138551 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138551 ms (missed cycles : 2).[0m ×2 + 8.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791700060.16715336 seconds ×3 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227731 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227731 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485481 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485481 ms (missed cycles : 3).[0m ×2 + 10.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791700061.75805569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795162 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795162 ms (missed cycles : 2).[0m ×2 + 10.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957252 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957252 ms (missed cycles : 3).[0m ×2 + 12.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456007 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456007 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 51 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184968 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184968 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.954ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679195 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679195 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.270ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441862 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441862 ms (missed cycles : 3).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.532ms + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.967ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353040 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353040 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791700219.70235133 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOstate_estimatorReceived a set_pose request (stamp: 1791700219721404844, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.53) is out of map bounds (-3.40, 1.10) to (1.58, 6.08). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.37) is out of map bounds (-3.40, 1.10) to (1.58, 6.08). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.53) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.37) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791700220.29430223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.242ms + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122168 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122168 ms (missed cycles : 2).[0m ×2 + 4.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639340 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639340 ms (missed cycles : 3).[0m ×2 + 5.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 5.49sINFOamclInitializing particles from estimated pose and covariance + 5.50sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547747, y=-0.0155635, yaw=-0.0112729 + 5.50sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.246ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825407 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825407 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 9.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 10.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 12.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 39 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699990.61296320 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3).[0m ×2 + 3.14sINFOstate_estimatorReceived a set_pose request (stamp: 1791699990629681666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.408ms + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699991.19210672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.096e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2).[0m ×2 + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg) + 5.25sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg)[0m ×2 + 5.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0456971, y=-0.0231095, yaw=0.00394124 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.304ms + 5.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.593ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms + 7.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.768ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414528 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414528 ms (missed cycles : 3).[0m ×2 + 7.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.501ms + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.430ms + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166432 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166432 ms (missed cycles : 3).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 9.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.024ms + 9.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699996.75223303 seconds ×3 + 9.27sINFOstate_estimatorReceived a set_pose request (stamp: 1791699996775619410, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709598 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709598 ms (missed cycles : 3).[0m ×2 + 9.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.83sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 8.391ms + 9.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 9.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 9.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699997.35341620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568981, y=-0.0171796, yaw=-0.0183989 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 10.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.248ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113534 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113534 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200915 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200915 ms (missed cycles : 2).[0m ×2 + 12.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642317 ms (missed cycles : 4). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642317 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 21 warnings · 128 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065199 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065199 ms (missed cycles : 2).[0m ×2 + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.535ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700299.54752421 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700299566178317, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.25sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 7.444ms + 3.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.25sINFOamclInitializing particles from estimated pose and covariance + 3.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184002 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700300.16952491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.27sINFOmove_groupClearing octomap...[0m ×2 + 3.27sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.705ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700301.02965498 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700301.61247683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700302.24260950 seconds ×3 + 5.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965950 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965950 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658098 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658098 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699990.61296320 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3).[0m ×2 + 3.14sINFOstate_estimatorReceived a set_pose request (stamp: 1791699990629681666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.408ms + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699991.19210672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.096e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2).[0m ×2 + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg) + 5.25sINFOamclInitializing particles from estimated pose and covariance + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg)[0m ×2 + 5.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0456971, y=-0.0231095, yaw=0.00394124 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.304ms + 5.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.593ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081237 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411439 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699990.61296320 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661016 ms (missed cycles : 3).[0m ×2 + 3.14sINFOstate_estimatorReceived a set_pose request (stamp: 1791699990629681666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.408ms + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699991.19210672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298494 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.096e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206989 ms (missed cycles : 2).[0m ×2 + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg) + 5.25sINFOamclInitializing particles from estimated pose and covariance + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, 0.2 deg)[0m ×2 + 5.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0456971, y=-0.0231095, yaw=0.00394124 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.304ms + 5.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.593ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026153 ms (missed cycles : 4).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.768ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414528 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414528 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.501ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.430ms + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166432 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166432 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.024ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699996.75223303 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791699996775619410, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709598 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709598 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.66sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 8.391ms + 3.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.66sINFOamclInitializing particles from estimated pose and covariance + 3.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699997.35341620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568981, y=-0.0171796, yaw=-0.0183989 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.248ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113534 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113534 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200915 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200915 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642317 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642317 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 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 · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542216 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647193 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700053.77354741 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791700053799819821, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-3.65, 1.55) to (1.33, 6.53). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.322ms + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700054.38700891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 32.351ms + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.20sINFOamclInitializing particles from estimated pose and covariance + 3.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242700 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.723ms + 3.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185332 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501077 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 29 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700092.62828302 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2).[0m ×2 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791700092649828011, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.634ms + 3.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.71sINFOamclInitializing particles from estimated pose and covariance + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700093.23413658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.172ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 29 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700092.62828302 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2).[0m ×2 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791700092649828011, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.634ms + 3.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.71sINFOamclInitializing particles from estimated pose and covariance + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700093.23413658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.172ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 29 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746311 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336403 ms (missed cycles : 3).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948256 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700092.62828302 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880419 ms (missed cycles : 2).[0m ×2 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791700092649828011, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.634ms + 3.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.71sINFOamclInitializing particles from estimated pose and covariance + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700093.23413658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.172ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216865 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804803 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783378 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_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 · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256165 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217068 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422112 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700226.15444899 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700226.75311828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003173 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423430 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512856 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 128 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065199 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065199 ms (missed cycles : 2).[0m ×2 + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271951 ms (missed cycles : 4).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.535ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960430 ms (missed cycles : 4).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700299.54752421 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700299566178317, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.25sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 7.444ms + 3.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.25sINFOamclInitializing particles from estimated pose and covariance + 3.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184002 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700300.16952491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.27sINFOmove_groupClearing octomap...[0m ×2 + 3.27sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588438 ms (missed cycles : 3).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.705ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700301.02965498 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700301.61247683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700302.24260950 seconds ×3 + 5.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.85sINFOobjective_server_nodecaller: ×10 + 1.85sINFOobjective_server_nodetype: 0 ×10 + 1.85sINFOobjective_server_nodename: "" ×10 + 1.85sINFOobjective_server_nodeinstance_id: "" ×10 + 1.85sINFOobjective_server_node ×10 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.90sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 337 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712836 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860317 ms (missed cycles : 3).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.85sINFOobjective_server_nodecaller: ×10 + 1.85sINFOobjective_server_nodetype: 0 ×10 + 1.85sINFOobjective_server_nodename: "" ×10 + 1.85sINFOobjective_server_nodeinstance_id: "" ×10 + 1.85sINFOobjective_server_node ×10 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658098 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658098 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083289 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699945.02533627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699945.03552151 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050688 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699945.63193297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699945.65205121 seconds ×3 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699946.23473978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699946.38532329 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232061 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699946.99939251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699947.06952000 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699947.65565729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089039 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407449 ms (missed cycles : 3).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183362 ms (missed cycles : 2).[0m ×2 | ||||