MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.9s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	22.8s	12 errors · 322 warnings · 1580 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-13-16-52-49-699093-20fd9313dc79-7926 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.83sINFOstatic_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' + 4.83sINFOstatic_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' + 4.83sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 5.05sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.07sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 5.11sINFOros2_control_node-13process started with pid [8091] ×2 + 5.11sINFOmove_group-25process started with pid [8147] ×2 + 5.11sINFOparameter_manager_node-26process started with pid [8148] ×2 + 5.11sINFOwaypoint_manager_node-27process started with pid [8149] ×2 + 5.11sINFOmove_joint_resampler_node-28process started with pid [8150] ×2 + 5.11sINFOmove_end_effector_resampler_node-29process started with pid [8151] ×2 + 5.11sINFOobjective_server_node_main-30process started with pid [8152] ×2 + 5.11sINFOcomponent_container_mt-31process started with pid [8153] ×2 + 5.11sINFOcomponent_container_mt-32process started with pid [8155] ×2 + 5.11sINFOexecute_objective_bridge-33process started with pid [8156] ×2 + 5.11sINFOui_teleop_bridge-34process started with pid [8157] ×2 + 5.11sINFOweb_bridge-35process started with pid [8158] ×2 + 5.11sINFOtf_visualization_relay-36process started with pid [8159] ×2 + 5.11sINFOjoint_state_visualization_relay-37process started with pid [8160] ×2 + 5.11sINFOtf2_web_republisher_node-38process started with pid [8161] ×2 + 5.11sINFOvideo_server-39process started with pid [8162] ×2 + 5.11sINFOweb_bridge_auth_proxy-40process started with pid [8163] ×2 + 5.11sINFOweb_video_auth_proxy-41process started with pid [8166] ×2 + 5.12sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.12sINFOcomponent_container_isolated-1process started with pid [7976] ×2 + 5.12sINFOcomponent_container_isolated-2process started with pid [7977] ×2 + 5.12sINFOstatic_transform_publisher-3process started with pid [7978] ×2 + 5.12sINFOodom_world_drift-4process started with pid [7979] ×2 + 5.12sINFOlidar_flattener.py-5process started with pid [7980] ×2 + 5.12sINFOstatic_transform_publisher-6process started with pid [7981] ×2 + 5.12sINFOstatic_transform_publisher-7process started with pid [7982] ×2 + 5.12sINFOscan_to_scan_filter_chain-8process started with pid [7983] ×2 + 5.12sINFOscan_to_scan_filter_chain-9process started with pid [7984] ×2 + 5.12sINFOrelay-10process started with pid [8088] ×2 + 5.12sINFOrelay-11process started with pid [8089] ×2 + 5.12sINFOfixed_lag_smoother_node-12process started with pid [8090] ×2 + 5.12sINFOros2-14process started with pid [8092] ×2 + 5.12sINFOros2-15process started with pid [8093] ×2 + 5.12sINFOros2-16process started with pid [8094] ×2 + 5.12sINFOros2-17process started with pid [8095] ×2 + 5.12sINFOros2-18process started with pid [8096] ×2 + 5.12sINFOros2-19process started with pid [8097] ×2 + 5.12sINFOros2-20process started with pid [8098] ×2 + 5.12sINFOros2-21process started with pid [8099] ×2 + 5.12sINFOros2-22process started with pid [8100] ×2 + 5.12sINFOros2-23process started with pid [8103] ×2 + 5.12sINFOros2-24process started with pid [8104] ×2 + 5.12sINFOcontroller_managerupdate rate is 600 Hz + 5.13sINFOcontroller_managerOverruns handling is : enabled + 5.13sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.13sWARNcontroller_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. + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.17sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.17sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920910 ms (missed cycles : 3). + 5.19sINFOstate_estimatorReceived a set_pose request (stamp: 1791910376728229894, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.19sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.19sINFOmap_serverCreating + 5.19sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.19sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.19sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.19sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.19sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.19sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.19sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.19sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.20sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.20sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.20sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.20sWARNros2_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 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920910 ms (missed cycles : 3).[0m ×2 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.21sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.25sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.27sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.27sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.27sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.30sINFOcontroller_serverCreating controller server + 5.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.34sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.35sINFOlocal_costmap.local_costmapCreating Costmap + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.41sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.42sINFOlifecycle_manager_localizationCreating + 5.43sINFOsmoother_serverCreating smoother server + 5.44sINFOrobot_state_publisherRobot initialized + 5.44sINFOcontroller_managerReceived robot description from topic. + 5.44sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.44sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.44sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.44sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.45sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.47sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.47sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.47sINFOmap_serverConfiguring + 5.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.49sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.50sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.50sINFOvideo_server2026/10/13 16:52:57 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.50sINFOvideo_server2026/10/13 16:52:57 INF configuration loaded from /tmp/moveit-webrtc-_m39gigp/mediamtx.yml ×2 + 5.50sINFOvideo_server2026/10/13 16:52:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.50sINFOvideo_server2026/10/13 16:52:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.51sINFOplanner_serverCreating + 5.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.53sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.53sINFOamclConfiguring + 5.54sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.54sINFOmap_serverActivating + 5.54sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.55sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.56sINFOglobal_costmap.global_costmapCreating Costmap + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.62sINFObehavior_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. + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.66sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.66sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.66sINFOamclActivating + 5.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.66sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.66sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.69sINFOamclSubscribed to map_topic: /map + 5.70sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.70sINFOamclCreated reinitialize_global_localization service + 5.70sINFOamclCreated request_nomotion_update service + 5.71sINFOamclA new map was received + 5.71sINFOamclInitializing particle filter instance + 5.74sINFObt_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. + 5.77sINFObt_navigatorCreating + 5.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.79sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.83sWARNlaser_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. + 5.84sWARNscan_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 + 5.84sINFOwaypoint_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. + 5.84sINFOwaypoint_followerCreating + 5.86sWARNlaser_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. + 5.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.91sINFOvelocity_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. + 5.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.93sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.94sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.94sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.94sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.97sINFOlifecycle_manager_navigationCreating + 6.00sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 6.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 6.03sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 6.03sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 6.04sINFOcontroller_serverConfiguring controller interface + 6.04sINFOcontroller_servergetting progress checker plugins.. + 6.04sINFOcontroller_servergetting goal checker plugins.. + 6.04sINFOcontroller_serverController frequency set to 20.0000Hz + 6.04sINFOlocal_costmap.local_costmapConfiguring + 6.05sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 6.07sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.12sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.12sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.13sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.18sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.18sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.18sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.20sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.22sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.26sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.27sINFOweb_video_auth_proxy2026-10-13 16:52:57,809 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.27sINFOweb_video_auth_proxy2026-10-13 16:52:57,812 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.28sINFOweb_bridge_auth_proxy2026-10-13 16:52:57,817 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.29sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.29sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.30sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.30sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.30sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.30sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.32sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.32sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.32sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.33sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.33sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.33sINFOcontroller_serverOptimizer reset ×2 + 6.34sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.400142 seconds + 6.34sINFOmove_groupLoaded robot model in 0.400142 seconds[0m ×2 + 6.34sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.34sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.34sINFOcontroller_serverController Server has FollowPath controllers available. + 6.34sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.34sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.37sINFOsmoother_serverConfiguring smoother server + 6.38sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.39sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.41sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.41sINFOplanner_serverConfiguring + 6.41sINFOglobal_costmap.global_costmapConfiguring + 6.43sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.45sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.46sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.46sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.47sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.52sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.52sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.348402 ms (missed cycles : 7). + 6.52sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.348402 ms (missed cycles : 7).[0m ×2 + 6.57sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.57sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.57sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.58sINFOplanner_serverPlanner Server has GridBased planners available. + 6.61sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.61sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.61sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.61sINFObehavior_serverConfiguring + 6.64sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.65sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.65sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.67sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.70sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.71sINFObehavior_serverConfiguring spin + 6.74sINFObehavior_serverConfiguring backup + 6.76sINFObehavior_serverConfiguring drive_on_heading + 6.78sINFObehavior_serverConfiguring assisted_teleop + 6.79sINFOamclParticle filter initialization completed + 6.79sINFOamclInitializing particles from estimated pose and covariance + 6.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.79sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.80sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.80sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.80sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.81sINFObehavior_serverConfiguring wait + 6.83sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.83sINFObt_navigatorConfiguring + 6.85sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.86sWARNbt_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 + 7.09sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 7.09sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.09sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNmove_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 + 7.16sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.16sINFOwaypoint_followerConfiguring + 7.21sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.21sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.21sINFOvelocity_smootherConfiguring velocity smoother + 7.23sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 7.23sINFOcontroller_serverActivating + 7.23sINFOlocal_costmap.local_costmapActivating + 7.23sINFOlocal_costmap.local_costmapChecking transform + 7.23sINFOlocal_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 ×4 + 7.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.26sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.26sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.29sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 7.29sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 7.31sINFOwaypoint_manager_nodeLoaded robot model in 0.348493 seconds[0m ×2 + 7.31sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.31sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.53sINFOmove_group[2026-10-13 16:52:59.066] [moveit_pro_license] [info] ×2 + 7.53sINFOmove_group************************************************* ×4 + 7.53sINFOmove_group* MoveIt Pro License ×2 + 7.53sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134655 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134655 ms (missed cycles : 2).[0m ×2 + 7.90sWARNwaypoint_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. + 7.90sWARNwaypoint_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 + 7.90sWARNwaypoint_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. + 7.90sWARNwaypoint_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 + 7.90sWARNwaypoint_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. + 7.90sWARNwaypoint_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 + 7.90sWARNwaypoint_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. + 7.90sWARNwaypoint_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 + 7.90sWARNwaypoint_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. + 7.90sWARNwaypoint_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 + 7.90sWARNwaypoint_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. + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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 + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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. + 7.91sWARNwaypoint_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 + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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 + 7.92sWARNwaypoint_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. + 7.92sWARNwaypoint_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 + 7.93sWARNwaypoint_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. + 7.93sWARNwaypoint_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 + 7.93sWARNwaypoint_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. + 7.93sWARNwaypoint_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 + 7.96sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.96sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.96sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.96sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.96sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.96sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.96sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.96sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.96sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.96sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.97sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.97sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.97sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.97sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.97sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.97sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.97sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.97sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.97sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.97sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.97sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.97sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 8.12sINFOwaypoint_manager_node[2026-10-13 16:52:59.664] [moveit_pro_license] [info] ×2 + 8.12sINFOwaypoint_manager_node************************************************* ×4 + 8.12sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 8.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.15sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.15sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.15sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 8.15sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 8.15sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.15sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.15sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.15sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.15sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.15sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.15sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.15sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.15sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.21sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.21sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.38sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.38sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 8.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 8.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.42sINFOros2_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 + 8.42sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.42sWARNros2_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 + 8.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.43sINFOforce_torque_sensor_broadcasterconfigure successful + 8.43sINFOros2_control_nodeconfigure successful[0m ×6 + 8.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.43sINFOcontroller_managerSuccessfully switched controllers! ×21 + 8.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 8.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.58sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.59sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.60sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560584 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560584 ms (missed cycles : 4).[0m ×2 + 8.78sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.78sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.78sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.78sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.79sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 8.79sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 8.82sINFOros2-14process has finished cleanly [pid 8092] ×2 + 8.87sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.87sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.87sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.87sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.88sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.88sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.88sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.88sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.91sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.95sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.95sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.95sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.96sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.96sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.96sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.96sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.96sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.97sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.97sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.97sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.97sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.97sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.97sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 9.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 9.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 9.18sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.18sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.18sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.18sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.18sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 9.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 9.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.21sWARNcomponent_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 + 9.23sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×10 + 9.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.26sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 9.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 9.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.27sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.27sINFOros2-15process has finished cleanly [pid 8093] ×2 + 9.28sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.28sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.28sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.28sINFOplatform_velocity_controllerconfigure successful + 9.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.29sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.29sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.43sINFOobjective_server_node[2026-10-13 16:53:00.973] [moveit_pro_license] [info] ×2 + 9.43sINFOobjective_server_node************************************************* ×4 + 9.43sINFOobjective_server_node* MoveIt Pro License ×2 + 9.43sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.49sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.49sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.54sINFOcomponent_container_mtLoaded robot model in 0.325654 seconds[0m ×2 + 9.54sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.54sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.55sINFOobjective_server_nodeLoaded robot model in 0.0506784 seconds[0m ×2 + 9.55sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 9.55sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.69sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 9.69sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028059 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028059 ms (missed cycles : 2).[0m ×2 + 9.77sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.77sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.77sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.77sINFOros2-17process has finished cleanly [pid 8095] ×2 + 9.77sINFOplatform_velocity_controller_nav2configure successful + 10.09sINFOmove_groupMoveGroup debug mode is ON + 10.09sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 10.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_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 + 10.12sWARNplanning_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. + 10.12sWARNcomponent_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 + 10.12sWARNplanning_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. + 10.12sWARNcomponent_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 + 10.12sWARNplanning_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. + 10.12sWARNplanning_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. + 10.12sWARNcomponent_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 + 10.12sWARNcomponent_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 + 10.12sWARNplanning_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. + 10.12sWARNplanning_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. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNplanning_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. + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNplanning_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. + 10.13sWARNplanning_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. + 10.13sWARNcomponent_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 + 10.13sWARNcomponent_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 + 10.13sWARNplanning_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. + 10.13sWARNcomponent_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 + 10.13sWARNplanning_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. + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.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 + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNplanning_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. + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNcomponent_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 + 10.14sWARNcomponent_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 + 10.14sWARNcomponent_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 + 10.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.16sWARNobjective_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. + 10.16sWARNobjective_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. + 10.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 10.17sWARNobjective_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. + 10.17sWARNobjective_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. + 10.17sWARNobjective_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 + 10.17sWARNobjective_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 + 10.17sWARNobjective_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 + 10.17sWARNobjective_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 + 10.17sWARNobjective_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. + 10.17sWARNobjective_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. + 10.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 10.17sWARNobjective_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 + 10.17sWARNobjective_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. + 10.17sWARNobjective_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 + 10.17sWARNobjective_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. + 10.17sWARNobjective_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 + 10.17sWARNobjective_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 + 10.17sWARNobjective_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. + 10.17sWARNobjective_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. + 10.17sWARNobjective_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 + 10.17sWARNobjective_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 + 10.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 10.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 10.20sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 10.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 10.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 10.22sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 10.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 10.25sINFOros2-19process has finished cleanly [pid 8097] ×2 + 10.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.32sINFOobjective_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 + 10.32sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.32sWARNros2_control_nodeCamera render tick took 1.03 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 + 10.35sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.35sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.36sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.36sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.36sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.36sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.36sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.37sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 10.37sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.37sINFOmove_group ×8 + 10.37sINFOmove_group****************************************************** ×4 + 10.37sINFOmove_group* MoveGroup using: ×2 + 10.37sINFOmove_group* - apply_planning_scene_service ×2 + 10.37sINFOmove_group* - clear_octomap_service ×2 + 10.37sINFOmove_group* - get_group_urdf ×2 + 10.37sINFOmove_group* - load_geometry_from_file ×2 + 10.37sINFOmove_group* - get_planning_scene_service ×2 + 10.37sINFOmove_group* - kinematics_service ×2 + 10.37sINFOmove_group* - save_geometry_to_file ×2 + 10.37sINFOmove_group* - GetPlanningGroups ×2 + 10.37sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.37sINFOmove_group[0m ×2 + 10.37sINFOmove_group[92mYou can start planning now![0m ×2 + 10.37sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.37sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.37sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.45sINFOcomponent_container_mt[2026-10-13 16:53:01.988] [moveit_pro_license] [info] ×2 + 10.45sINFOcomponent_container_mt************************************************* ×4 + 10.45sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.68sINFOros2-20process has finished cleanly [pid 8098] ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448716 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448716 ms (missed cycles : 3).[0m ×2 + 10.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 10.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 10.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 10.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 10.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.84sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.84sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.86sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.86sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 10.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.87sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 10.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 11.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.37sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791910380.840 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.43sINFOros2_control_node[2026-10-13 16:53:02.973] [info] Controller state will be published at 20 Hz. ×2 + 11.43sINFOros2_control_node[2026-10-13 16:53:02.974] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876514 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876514 ms (missed cycles : 2).[0m ×2 + 11.78sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.78sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.78sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.78sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.81sINFOros2-23process has finished cleanly [pid 8103] ×2 + 11.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 11.86sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 11.91sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.91sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.43sINFOros2_control_node[2026-10-13 16:53:03.969] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.43sINFOros2_control_node[2026-10-13 16:53:03.972] [info] Controller state will be published at 10 Hz. ×2 + 12.43sINFOros2_control_node[2026-10-13 16:53:03.974] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.76sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.76sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.76sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.76sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 12.76sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.76sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638169 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638169 ms (missed cycles : 2).[0m ×2 + 12.82sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.82sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.82sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.82sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.83sINFOros2-22process has finished cleanly [pid 8100] ×2 + 13.39sINFOros2_control_node[2026-10-13 16:53:04.926] [info] Controller state will be published at 20 Hz. ×2 + 13.39sINFOros2_control_node[2026-10-13 16:53:04.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.75sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 13.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 13.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 13.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 13.76sINFOros2-24process has finished cleanly [pid 8104] ×2 + 13.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 13.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 13.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806741 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806741 ms (missed cycles : 2).[0m ×2 + 13.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 14.17sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.17sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.17sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.17sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.17sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 14.17sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 14.20sINFOros2-16process has finished cleanly [pid 8094] ×2 + 14.20sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.20sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.23sINFOlocal_costmap.local_costmapstart + 14.24sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.24sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.27sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.27sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.30sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791910384.319 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.33sWARNcontroller_serverParameter controller_server.verbose not found + 14.33sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 14.44sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 14.44sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 14.44sINFOsmoother_serverActivating + 14.44sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 14.55sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 14.55sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 14.55sINFOplanner_serverActivating + 14.55sINFOglobal_costmap.global_costmapActivating + 14.55sINFOglobal_costmap.global_costmapChecking transform + 14.55sINFOglobal_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. + 14.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 14.60sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 14.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 + 14.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pkm38hfc --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_z0qptx27 --params-file /tmp/launch_params_ga5k81p6 [0m ×2 + 14.62sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791910385.363 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.65sINFOros2-18process has finished cleanly [pid 8096] ×2 + 14.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 14.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 14.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 14.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883388 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883388 ms (missed cycles : 2).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 1640 particles 811 points - 35.162ms + 15.05sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791910386.546597, but only time 1791910386.875725 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 15.23sINFOros2_control_node[2026-10-13 16:53:06.768] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.23sINFOros2_control_node[2026-10-13 16:53:06.770] [info] Controller state will be published at 10 Hz. ×2 + 15.23sINFOros2_control_node[2026-10-13 16:53:06.772] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.42sWARNobjective_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 + 15.55sINFOglobal_costmap.global_costmapstart + 15.60sINFOros2-21process has finished cleanly [pid 8099] ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064352 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064352 ms (missed cycles : 4).[0m ×2 + 16.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 16.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 16.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 16.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 16.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 16.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 16.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 16.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 16.60sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 16.60sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.71sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.71sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.71sINFObehavior_serverActivating + 16.71sINFObehavior_serverActivating spin + 16.71sINFObehavior_serverActivating backup + 16.71sINFObehavior_serverActivating drive_on_heading + 16.71sINFObehavior_serverActivating assisted_teleop + 16.71sINFObehavior_serverActivating wait + 16.71sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.81sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.81sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.81sINFObt_navigatorActivating + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725145 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725145 ms (missed cycles : 2).[0m ×2 + 16.89sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.99sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.99sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.99sINFOwaypoint_followerActivating + 16.99sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 17.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 17.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 17.10sINFOvelocity_smootherActivating + 17.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 17.20sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 17.20sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 17.20sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983306 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983306 ms (missed cycles : 3).[0m ×2 + 18.20sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 19.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 21.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 21.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 21.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 21.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 21.99sINFOobjective_server_nodecaller: ×10 + 21.99sINFOobjective_server_nodetype: 0 ×10 + 21.99sINFOobjective_server_nodename: "" ×10 + 21.99sINFOobjective_server_nodeinstance_id: "" ×10 + 21.99sINFOobjective_server_node ×10 + 22.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 22.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 22.03sINFOmove_groupClearing octomap...[0m ×4 + 22.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 22.03sINFOmove_groupOctomap cleared.[0m ×4 + 22.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 22.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 22.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 22.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 23.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 23.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 23.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 23.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 24.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 24.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 24.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 24.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	26 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983306 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983306 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% 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 4.148385 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 1.19sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×15 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.11sINFOobjective_server_nodecaller: ×10 + 4.11sINFOobjective_server_nodetype: 0 ×10 + 4.11sINFOobjective_server_nodename: "" ×10 + 4.11sINFOobjective_server_nodeinstance_id: "" ×10 + 4.11sINFOobjective_server_node ×10 + 4.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.16sINFOmove_groupClearing octomap...[0m ×4 + 4.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.16sINFOmove_groupOctomap cleared.[0m ×4 + 4.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 6.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 6.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	67.2s	3 errors · 264 warnings · 285 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.178ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.115ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656999 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656999 ms (missed cycles : 4).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.751ms + 1.92sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120559 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120559 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.951ms + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.441ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173913 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173913 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.26sERRORobjective_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: 1791910605.91225553 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOstate_estimatorReceived a set_pose request (stamp: 1791910605926191740, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.508ms + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.78sINFOamclParticle filter update iteration stats: 4446 particles 811 points - 8.822ms + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791910606.51081824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893578 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893578 ms (missed cycles : 5).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892575 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892575 ms (missed cycles : 3).[0m ×2 + 5.40sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.40sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.309ms + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941507 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941507 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.73sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.73sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.73sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.73sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929566 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929566 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195453 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195453 ms (missed cycles : 3).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.476ms ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758493 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758493 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.684ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782775 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782775 ms (missed cycles : 4).[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.516ms + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264740 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264740 ms (missed cycles : 3).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.955ms + 12.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×8 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798683 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798683 ms (missed cycles : 2).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.283ms + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.496ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778626 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778626 ms (missed cycles : 4).[0m ×2 + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.059ms + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.359ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056842 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056842 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.192ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642782 ms (missed cycles : 3). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642782 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.750ms + 16.20sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243981 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243981 ms (missed cycles : 3).[0m ×2 + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.458ms + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.516ms + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.571ms + 17.74sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159122 ms (missed cycles : 4). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159122 ms (missed cycles : 4).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.453ms + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.937ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115648 ms (missed cycles : 3). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115648 ms (missed cycles : 3).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.307ms + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.862ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829037 ms (missed cycles : 4). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829037 ms (missed cycles : 4).[0m ×2 + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.799ms + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483867 ms (missed cycles : 3). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483867 ms (missed cycles : 3).[0m ×2 + 21.30sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.578ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.855ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270119 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270119 ms (missed cycles : 2).[0m ×2 + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.638ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.761ms + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411435 ms (missed cycles : 4). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411435 ms (missed cycles : 4).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.597ms + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.377ms + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342305 ms (missed cycles : 2). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342305 ms (missed cycles : 2).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 24.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.025ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078650 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078650 ms (missed cycles : 3).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.289ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.111ms + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085813 ms (missed cycles : 6). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085813 ms (missed cycles : 6).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.663ms + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.648ms + 27.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570699 ms (missed cycles : 2). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570699 ms (missed cycles : 2).[0m ×2 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.755ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.892ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527753 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527753 ms (missed cycles : 3).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.525ms + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.790ms + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.923ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913421 ms (missed cycles : 2). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913421 ms (missed cycles : 2).[0m ×2 + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.222ms + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.728ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655755 ms (missed cycles : 4). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655755 ms (missed cycles : 4).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.312ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.384ms + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535653 ms (missed cycles : 2). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535653 ms (missed cycles : 2).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.982ms + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103336 ms (missed cycles : 4). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103336 ms (missed cycles : 4).[0m ×2 + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.665ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.356ms + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560184 ms (missed cycles : 2). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560184 ms (missed cycles : 2).[0m ×2 + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.325ms + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246825 ms (missed cycles : 3). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246825 ms (missed cycles : 3).[0m ×2 + 35.11sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.11sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.188486 ms (missed cycles : 6). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.188486 ms (missed cycles : 6).[0m ×2 + 36.62sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727329 ms (missed cycles : 2). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727329 ms (missed cycles : 2).[0m ×2 + 37.72sINFOobjective_server_nodePlanning for 17 path waypoints. ×9 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456612 ms (missed cycles : 2). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456612 ms (missed cycles : 2).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058544 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058544 ms (missed cycles : 2).[0m ×2 + 40.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×6 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050395 ms (missed cycles : 3). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050395 ms (missed cycles : 3).[0m ×2 + 40.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.131ms + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868746 ms (missed cycles : 4). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868746 ms (missed cycles : 4).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.683ms + 42.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.916ms + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699562 ms (missed cycles : 2). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699562 ms (missed cycles : 2).[0m ×2 + 42.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.087ms + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498941 ms (missed cycles : 3). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498941 ms (missed cycles : 3).[0m ×2 + 43.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.922ms + 44.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437082 ms (missed cycles : 3). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437082 ms (missed cycles : 3).[0m ×2 + 45.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320039 ms (missed cycles : 2). + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320039 ms (missed cycles : 2).[0m ×2 + 46.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.029ms + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224621 ms (missed cycles : 3). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224621 ms (missed cycles : 3).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915441 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915441 ms (missed cycles : 2).[0m ×2 + 48.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.925ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384663 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384663 ms (missed cycles : 3).[0m ×2 + 48.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.106ms + 49.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.336ms + 49.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521142 ms (missed cycles : 3). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521142 ms (missed cycles : 3).[0m ×2 + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.147ms + 50.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.091ms + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088815 ms (missed cycles : 2). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088815 ms (missed cycles : 2).[0m ×2 + 51.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.633ms + 51.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122895 ms (missed cycles : 3). + 51.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122895 ms (missed cycles : 3).[0m ×2 + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595890 ms (missed cycles : 5). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595890 ms (missed cycles : 5).[0m ×2 + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745303 ms (missed cycles : 2). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745303 ms (missed cycles : 2).[0m ×2 + 54.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387973 ms (missed cycles : 6). + 54.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387973 ms (missed cycles : 6).[0m ×2 + 55.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.850ms + 55.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.366ms + 56.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039862 ms (missed cycles : 4). + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039862 ms (missed cycles : 4).[0m ×2 + 56.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.248ms + 56.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms + 57.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135178 ms (missed cycles : 5). + 57.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135178 ms (missed cycles : 5).[0m ×2 + 57.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.152ms + 57.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.002ms + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200447 ms (missed cycles : 3). + 58.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200447 ms (missed cycles : 3).[0m ×2 + 58.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.652ms + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782234 ms (missed cycles : 2). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782234 ms (missed cycles : 2).[0m ×2 + 60.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033345 ms (missed cycles : 2). + 60.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033345 ms (missed cycles : 2).[0m ×2 + 60.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.552ms + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988607 ms (missed cycles : 4). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988607 ms (missed cycles : 4).[0m ×2 + 62.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739315 ms (missed cycles : 2). + 62.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739315 ms (missed cycles : 2).[0m ×2 + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995231 ms (missed cycles : 3). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995231 ms (missed cycles : 3).[0m ×2 + 64.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568327 ms (missed cycles : 3). + 64.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568327 ms (missed cycles : 3).[0m ×2 + 65.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.889ms + 65.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079982 ms (missed cycles : 3). + 65.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079982 ms (missed cycles : 3).[0m ×2 + 66.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109373 ms (missed cycles : 5). + 66.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109373 ms (missed cycles : 5).[0m ×2 + 66.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.901ms + 67.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197985 ms (missed cycles : 3). + 67.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197985 ms (missed cycles : 3).[0m ×2 + 67.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.064ms + 68.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.439ms + 68.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717340 ms (missed cycles : 2). + 68.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717340 ms (missed cycles : 2).[0m ×2 + 68.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.969ms + 69.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.301ms + 69.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.082ms + 69.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075519 ms (missed cycles : 4). + 69.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075519 ms (missed cycles : 4).[0m ×2 + 70.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791910673.16099954 seconds ×3 + 70.56sINFOstate_estimatorReceived a set_pose request (stamp: 1791910673182038054, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 70.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.823ms + 70.72sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 70.72sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 70.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366097 ms (missed cycles : 3). + 70.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366097 ms (missed cycles : 3).[0m ×2 + 71.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 71.06sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 71.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791910673.75881314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 71.18sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.712ms + 71.18sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171803, yaw=-0.0183998 + 71.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.189ms + 71.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580973 ms (missed cycles : 3). + 71.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580973 ms (missed cycles : 3).[0m ×2 + 72.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211118 ms (missed cycles : 2). + 72.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211118 ms (missed cycles : 2).[0m ×2 + 73.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 73.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.6s	231 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.79sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.79sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336867 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336867 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549272 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549272 ms (missed cycles : 2).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.008ms + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457189 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457189 ms (missed cycles : 3).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.405ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562810 ms (missed cycles : 4). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562810 ms (missed cycles : 4).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.340ms + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.306ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348422 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348422 ms (missed cycles : 4).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.208ms + 12.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.523ms + 12.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×12 + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.129ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253719 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253719 ms (missed cycles : 2).[0m ×2 + 13.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.555ms + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.190ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546073 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546073 ms (missed cycles : 3).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.746ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068176 ms (missed cycles : 4). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068176 ms (missed cycles : 4).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.061ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.039ms + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981642 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981642 ms (missed cycles : 3).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.478ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.310ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.377ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186024 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186024 ms (missed cycles : 3).[0m ×2 + 17.82sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.282ms + 17.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 18.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.813ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477852 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477852 ms (missed cycles : 3).[0m ×2 + 18.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.283ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668300 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668300 ms (missed cycles : 2).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.006ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.015ms + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939911 ms (missed cycles : 3). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939911 ms (missed cycles : 3).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.244ms + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.421ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301223 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301223 ms (missed cycles : 3).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.165ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693761 ms (missed cycles : 5). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693761 ms (missed cycles : 5).[0m ×2 + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.596ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.460ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169953 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169953 ms (missed cycles : 2).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.854ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.059ms + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.296322 ms (missed cycles : 6). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.296322 ms (missed cycles : 6).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725169 ms (missed cycles : 4). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725169 ms (missed cycles : 4).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.798ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.615ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765002 ms (missed cycles : 3). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765002 ms (missed cycles : 3).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.078ms + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.972ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.527ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071829 ms (missed cycles : 3). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071829 ms (missed cycles : 3).[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.030ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700838 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700838 ms (missed cycles : 2).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.662ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.039ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369087 ms (missed cycles : 3). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369087 ms (missed cycles : 3).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.141ms + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.286ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259200 ms (missed cycles : 4). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259200 ms (missed cycles : 4).[0m ×2 + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.840ms + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.185ms + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896246 ms (missed cycles : 5). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896246 ms (missed cycles : 5).[0m ×2 + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.301ms + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.386ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632165 ms (missed cycles : 4). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632165 ms (missed cycles : 4).[0m ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.728ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876041 ms (missed cycles : 2). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876041 ms (missed cycles : 2).[0m ×2 + 34.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.431ms + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518601 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518601 ms (missed cycles : 3).[0m ×2 + 35.20sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213469 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213469 ms (missed cycles : 3).[0m ×2 + 36.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.473ms + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096903 ms (missed cycles : 3). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096903 ms (missed cycles : 3).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308093 ms (missed cycles : 3). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308093 ms (missed cycles : 3).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700244 ms (missed cycles : 3). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700244 ms (missed cycles : 3).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719254 ms (missed cycles : 4). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719254 ms (missed cycles : 4).[0m ×2 + 40.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.946ms + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055712 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055712 ms (missed cycles : 2).[0m ×2 + 41.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747790 ms (missed cycles : 5). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747790 ms (missed cycles : 5).[0m ×2 + 42.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850313 ms (missed cycles : 2). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850313 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215367 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215367 ms (missed cycles : 2).[0m ×2 + 44.73sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.948ms + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593631 ms (missed cycles : 4). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593631 ms (missed cycles : 4).[0m ×2 + 46.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.089ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702417 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702417 ms (missed cycles : 3).[0m ×2 + 47.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881606 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881606 ms (missed cycles : 3).[0m ×2 + 48.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.587ms + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463681 ms (missed cycles : 3). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463681 ms (missed cycles : 3).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677486 ms (missed cycles : 2). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677486 ms (missed cycles : 2).[0m ×2 + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855011 ms (missed cycles : 2). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855011 ms (missed cycles : 2).[0m ×2 + 52.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.595ms + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701780 ms (missed cycles : 5). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701780 ms (missed cycles : 5).[0m ×2 + 53.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976272 ms (missed cycles : 3). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976272 ms (missed cycles : 3).[0m ×2 + 54.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141077 ms (missed cycles : 4). + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141077 ms (missed cycles : 4).[0m ×2 + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282837 ms (missed cycles : 3). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282837 ms (missed cycles : 3).[0m ×2 + 56.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.855ms + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574092 ms (missed cycles : 4). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574092 ms (missed cycles : 4).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559352 ms (missed cycles : 3). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559352 ms (missed cycles : 3).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121608 ms (missed cycles : 4). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121608 ms (missed cycles : 4).[0m ×2 + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435293 ms (missed cycles : 2). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435293 ms (missed cycles : 2).[0m ×2 + 60.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.155ms + 60.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791910737.38434982 seconds ×3 + 60.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405113 ms (missed cycles : 2). + 60.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405113 ms (missed cycles : 2).[0m ×2 + 60.82sINFOstate_estimatorReceived a set_pose request (stamp: 1791910737406147059, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-3.80, 2.20) to (1.18, 7.18). The costmap cannot raytrace for it. + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-3.80, 2.20) to (1.18, 7.18). The costmap cannot raytrace for it. + 60.97sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.97sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 61.17sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.17sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.34sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791910737.99018407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.66sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.766ms + 61.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.66sINFOamclInitializing particles from estimated pose and covariance + 61.66sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 61.82sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 61.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892814 ms (missed cycles : 3). + 61.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892814 ms (missed cycles : 3).[0m ×2 + 62.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.113ms + 62.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114123 ms (missed cycles : 3). + 62.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114123 ms (missed cycles : 3).[0m ×2 + 64.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063195 ms (missed cycles : 3). + 64.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063195 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.6s	219 warnings · 231 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.434ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.818ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500385 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500385 ms (missed cycles : 2).[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.236ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.196ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141851 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141851 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.697ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.782ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.04sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791910445.50040054 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1791910445528543703, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193825 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193825 ms (missed cycles : 2).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.447ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791910446.11598420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 9.144ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.68sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.106ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081682 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081682 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586943 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586943 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382072 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382072 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.29sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309406 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309406 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169927 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.429ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895790 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895790 ms (missed cycles : 2).[0m ×2 + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.994ms + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.868ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768674 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768674 ms (missed cycles : 4).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.853ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807890 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807890 ms (missed cycles : 3).[0m ×2 + 12.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.160ms + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.059ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165235 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165235 ms (missed cycles : 2).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.394ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689674 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689674 ms (missed cycles : 2).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 14.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.214ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204782 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204782 ms (missed cycles : 2).[0m ×2 + 14.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.937ms + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.263ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670056 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670056 ms (missed cycles : 2).[0m ×2 + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.798ms ×2 + 16.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766052 ms (missed cycles : 6). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766052 ms (missed cycles : 6).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.420ms + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.648ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.089ms + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163156 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163156 ms (missed cycles : 3).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.621ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816620 ms (missed cycles : 3). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816620 ms (missed cycles : 3).[0m ×2 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.440ms + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.178ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319276 ms (missed cycles : 3). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319276 ms (missed cycles : 3).[0m ×2 + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.107ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424624 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424624 ms (missed cycles : 3).[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.154ms + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.457ms + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670648 ms (missed cycles : 3). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670648 ms (missed cycles : 3).[0m ×2 + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.660ms + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.637ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478064 ms (missed cycles : 3). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478064 ms (missed cycles : 3).[0m ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.789ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195874 ms (missed cycles : 4). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195874 ms (missed cycles : 4).[0m ×2 + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.892ms + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.581ms + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669254 ms (missed cycles : 3). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669254 ms (missed cycles : 3).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.607ms + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.256ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158804 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158804 ms (missed cycles : 2).[0m ×2 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.918ms + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.443ms + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619397 ms (missed cycles : 3). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619397 ms (missed cycles : 3).[0m ×2 + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.083ms + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.808ms + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995259 ms (missed cycles : 3). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995259 ms (missed cycles : 3).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.042ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.622ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768569 ms (missed cycles : 3). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768569 ms (missed cycles : 3).[0m ×2 + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.512ms + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.061ms + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.983ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981283 ms (missed cycles : 2). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981283 ms (missed cycles : 2).[0m ×2 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.363ms + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.825ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031992 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031992 ms (missed cycles : 2).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.214ms + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.812ms + 32.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980067 ms (missed cycles : 2). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980067 ms (missed cycles : 2).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.347ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899776 ms (missed cycles : 2). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899776 ms (missed cycles : 2).[0m ×2 + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.693ms + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479800 ms (missed cycles : 3). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479800 ms (missed cycles : 3).[0m ×2 + 34.96sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.498ms + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051322 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051322 ms (missed cycles : 3).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550622 ms (missed cycles : 3). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550622 ms (missed cycles : 3).[0m ×2 + 37.35sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 37.37sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171409 ms (missed cycles : 3). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171409 ms (missed cycles : 3).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979651 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979651 ms (missed cycles : 2).[0m ×2 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928619 ms (missed cycles : 2). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928619 ms (missed cycles : 2).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974657 ms (missed cycles : 5). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974657 ms (missed cycles : 5).[0m ×2 + 41.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.341ms + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746947 ms (missed cycles : 2). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746947 ms (missed cycles : 2).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230919 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230919 ms (missed cycles : 2).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585066 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585066 ms (missed cycles : 3).[0m ×2 + 45.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993263 ms (missed cycles : 4). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993263 ms (missed cycles : 4).[0m ×2 + 45.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.868ms + 46.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773090 ms (missed cycles : 2). + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773090 ms (missed cycles : 2).[0m ×2 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668214 ms (missed cycles : 6). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668214 ms (missed cycles : 6).[0m ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517224 ms (missed cycles : 3). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517224 ms (missed cycles : 3).[0m ×2 + 48.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.950ms + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322868 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322868 ms (missed cycles : 2).[0m ×2 + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321294 ms (missed cycles : 3). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321294 ms (missed cycles : 3).[0m ×2 + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669881 ms (missed cycles : 2). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669881 ms (missed cycles : 2).[0m ×2 + 52.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.446ms + 52.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108213 ms (missed cycles : 3). + 52.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108213 ms (missed cycles : 3).[0m ×2 + 53.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772185 ms (missed cycles : 3). + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772185 ms (missed cycles : 3).[0m ×2 + 54.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153867 ms (missed cycles : 2). + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153867 ms (missed cycles : 2).[0m ×2 + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004603 ms (missed cycles : 6). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004603 ms (missed cycles : 6).[0m ×2 + 56.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.828ms + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755025 ms (missed cycles : 4). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755025 ms (missed cycles : 4).[0m ×2 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 58.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 59.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 60.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 60.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 60.65sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.71sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 60.71sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 60.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 61.01sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.01sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 61.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 61.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 61.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 61.63sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 61.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 62.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 62.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 63.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 63.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.7s	220 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.520ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.943ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.359ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.115ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910542.38960600 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1791910542406290338, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.64sWARNlocal_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 + 3.64sWARNlocal_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791910542.99673581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.899ms + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.01sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.838ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.65sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.65sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728180 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728180 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080997 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080997 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.942ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417033 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417033 ms (missed cycles : 2).[0m ×2 + 10.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.887ms + 10.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991459 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991459 ms (missed cycles : 3).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.365ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.324ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249321 ms (missed cycles : 5). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249321 ms (missed cycles : 5).[0m ×2 + 12.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.735ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315030 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315030 ms (missed cycles : 3).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.524ms + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.357ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423629 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423629 ms (missed cycles : 3).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.358ms + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.302ms + 14.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.845ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369591 ms (missed cycles : 4). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369591 ms (missed cycles : 4).[0m ×2 + 15.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.718ms ×2 + 15.98sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.944ms + 16.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964860 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964860 ms (missed cycles : 3).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.581ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232851 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232851 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.391ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.503ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412596 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412596 ms (missed cycles : 2).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.439ms + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.243ms + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222297 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222297 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.311ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834707 ms (missed cycles : 4). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834707 ms (missed cycles : 4).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.030ms + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.716999 ms (missed cycles : 6). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.716999 ms (missed cycles : 6).[0m ×2 + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.485ms + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.370ms + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154967 ms (missed cycles : 2). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154967 ms (missed cycles : 2).[0m ×2 + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.253ms + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.039ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745435 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745435 ms (missed cycles : 2).[0m ×2 + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.375ms + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.220ms + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.104ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981988 ms (missed cycles : 3). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981988 ms (missed cycles : 3).[0m ×2 + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.372ms + 26.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.362ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891958 ms (missed cycles : 4). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891958 ms (missed cycles : 4).[0m ×2 + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.076ms + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms + 27.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×10 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684971 ms (missed cycles : 6). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684971 ms (missed cycles : 6).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.710ms + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.455ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452319 ms (missed cycles : 3). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452319 ms (missed cycles : 3).[0m ×2 + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.896ms + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.249ms + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916225 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916225 ms (missed cycles : 2).[0m ×2 + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.508ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.288ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772504 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772504 ms (missed cycles : 2).[0m ×2 + 30.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.899ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.345ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220877 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220877 ms (missed cycles : 2).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.034ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.526ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288215 ms (missed cycles : 2). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288215 ms (missed cycles : 2).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.078ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242500 ms (missed cycles : 4). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242500 ms (missed cycles : 4).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.761ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102940 ms (missed cycles : 3). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102940 ms (missed cycles : 3).[0m ×2 + 36.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193412 ms (missed cycles : 3). + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193412 ms (missed cycles : 3).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209942 ms (missed cycles : 3). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209942 ms (missed cycles : 3).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538117 ms (missed cycles : 2). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538117 ms (missed cycles : 2).[0m ×2 + 38.67sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418138 ms (missed cycles : 3). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418138 ms (missed cycles : 3).[0m ×2 + 39.50sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796951 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796951 ms (missed cycles : 2).[0m ×2 + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353566 ms (missed cycles : 4). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353566 ms (missed cycles : 4).[0m ×2 + 41.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080357 ms (missed cycles : 2). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080357 ms (missed cycles : 2).[0m ×2 + 42.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.895ms + 43.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.499ms + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800481 ms (missed cycles : 5). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800481 ms (missed cycles : 5).[0m ×2 + 43.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.589ms + 44.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.720ms + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823761 ms (missed cycles : 5). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823761 ms (missed cycles : 5).[0m ×2 + 45.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.110ms + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119111 ms (missed cycles : 3). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119111 ms (missed cycles : 3).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416443 ms (missed cycles : 3). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416443 ms (missed cycles : 3).[0m ×2 + 47.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036369 ms (missed cycles : 3). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036369 ms (missed cycles : 3).[0m ×2 + 47.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.861ms + 48.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.030ms + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967295 ms (missed cycles : 2). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967295 ms (missed cycles : 2).[0m ×2 + 48.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.972ms + 49.07sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.759ms + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.156ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351701 ms (missed cycles : 3). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351701 ms (missed cycles : 3).[0m ×2 + 50.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.132ms + 50.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.694ms + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153013 ms (missed cycles : 4). + 50.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153013 ms (missed cycles : 4).[0m ×2 + 51.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 51.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208482 ms (missed cycles : 4). + 51.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208482 ms (missed cycles : 4).[0m ×2 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247890 ms (missed cycles : 4). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247890 ms (missed cycles : 4).[0m ×2 + 53.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.501ms + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163973 ms (missed cycles : 4). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163973 ms (missed cycles : 4).[0m ×2 + 54.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.513ms + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903174 ms (missed cycles : 2). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903174 ms (missed cycles : 2).[0m ×2 + 55.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.144ms + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942986 ms (missed cycles : 2). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942986 ms (missed cycles : 2).[0m ×2 + 55.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791910595.06688643 seconds ×3 + 55.97sINFOstate_estimatorReceived a set_pose request (stamp: 1791910595084806790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 56.04sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 11.64) is out of map bounds (-3.25, 0.65) to (1.73, 5.63). The costmap cannot raytrace for it. + 56.04sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 12.16) is out of map bounds (-3.25, 0.65) to (1.73, 5.63). The costmap cannot raytrace for it. + 56.14sWARNlocal_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. ×4 + 56.14sWARNlocal_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. ×4 + 56.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.50sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.094ms + 56.54sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791910595.66765952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789198 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789198 ms (missed cycles : 2).[0m ×2 + 56.96sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815587 ms (missed cycles : 3). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815587 ms (missed cycles : 3).[0m ×2 + 58.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 58.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.307ms + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647786 ms (missed cycles : 3). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647786 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	144 warnings · 426 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719905 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719905 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105299 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105299 ms (missed cycles : 2).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.814ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518602 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518602 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161236 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161236 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518293 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518293 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058175 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058175 ms (missed cycles : 3).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942313 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942313 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918763 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918763 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039149 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039149 ms (missed cycles : 3).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817506 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817506 ms (missed cycles : 4).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344406 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344406 ms (missed cycles : 3).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958937 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958937 ms (missed cycles : 3).[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833326 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833326 ms (missed cycles : 2).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827973 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827973 ms (missed cycles : 3).[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947516 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947516 ms (missed cycles : 2).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944742 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944742 ms (missed cycles : 2).[0m ×2 + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622430 ms (missed cycles : 3). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622430 ms (missed cycles : 3).[0m ×2 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.981ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155938 ms (missed cycles : 2). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155938 ms (missed cycles : 2).[0m ×2 + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897536 ms (missed cycles : 2). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897536 ms (missed cycles : 2).[0m ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288898 ms (missed cycles : 5). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288898 ms (missed cycles : 5).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431597 ms (missed cycles : 3). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431597 ms (missed cycles : 3).[0m ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506058 ms (missed cycles : 3). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506058 ms (missed cycles : 3).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551059 ms (missed cycles : 3). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551059 ms (missed cycles : 3).[0m ×2 + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245145 ms (missed cycles : 2). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245145 ms (missed cycles : 2).[0m ×2 + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117412 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117412 ms (missed cycles : 2).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007517 ms (missed cycles : 2). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007517 ms (missed cycles : 2).[0m ×2 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507729 ms (missed cycles : 3). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507729 ms (missed cycles : 3).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934763 ms (missed cycles : 3). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934763 ms (missed cycles : 3).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876183 ms (missed cycles : 2). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876183 ms (missed cycles : 2).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955330 ms (missed cycles : 3). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955330 ms (missed cycles : 3).[0m ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912950 ms (missed cycles : 3). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912950 ms (missed cycles : 3).[0m ×2 + 38.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357791 ms (missed cycles : 4). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357791 ms (missed cycles : 4).[0m ×2 + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213479 ms (missed cycles : 2). + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213479 ms (missed cycles : 2).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834776 ms (missed cycles : 5). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834776 ms (missed cycles : 5).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931077 ms (missed cycles : 2). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931077 ms (missed cycles : 2).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3).[0m ×2 + 46.78sINFOjoint_trajectory_controllerGoal reached, success! + 46.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910439.27871084 seconds ×3 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3).[0m ×2 + 46.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.86sINFOstate_estimatorReceived a set_pose request (stamp: 1791910439300142710, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 47.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.38sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910439.87024140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2).[0m ×2 + 48.60sINFOobjective_server_nodeFound path in 0 iterations (4.5759e-05 s). ×2 + 48.67sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2).[0m ×2 + 48.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg) + 48.99sINFOamclInitializing particles from estimated pose and covariance + 48.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg)[0m ×2 + 48.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0501635, y=-0.0203825, yaw=-0.00560377 + 49.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.751ms + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.092ms + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3).[0m ×2 + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	136 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125033 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125033 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824896 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824896 ms (missed cycles : 5).[0m ×2 + 1.42sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.42sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.47sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791910509.56130791 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246213 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246213 ms (missed cycles : 4).[0m ×2 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791910511.15945554 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 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243875 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243875 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231633 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231633 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230264 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230264 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749898 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749898 ms (missed cycles : 3).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656071 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656071 ms (missed cycles : 2).[0m ×2 + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.320ms + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247516 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247516 ms (missed cycles : 3).[0m ×2 + 9.30sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 9.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.250ms + 9.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 9.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.194ms + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717326 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717326 ms (missed cycles : 4).[0m ×2 + 10.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.676ms + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064978 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064978 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.404ms + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.473ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712813 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712813 ms (missed cycles : 2).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.161ms + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.403ms + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010798 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010798 ms (missed cycles : 3).[0m ×2 + 13.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.257ms + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.499ms + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260542 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260542 ms (missed cycles : 2).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.185ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.285ms + 14.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654944 ms (missed cycles : 4). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654944 ms (missed cycles : 4).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.304ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.473ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975211 ms (missed cycles : 5). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975211 ms (missed cycles : 5).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.771ms ×2 + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.232ms + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.607ms + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017453 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017453 ms (missed cycles : 2).[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.595ms + 18.28sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.369ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323662 ms (missed cycles : 4). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323662 ms (missed cycles : 4).[0m ×2 + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.907ms + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.881ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676913 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676913 ms (missed cycles : 2).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.003ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.904ms + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656956 ms (missed cycles : 3). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656956 ms (missed cycles : 3).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.283ms + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.153ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606226 ms (missed cycles : 4). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606226 ms (missed cycles : 4).[0m ×2 + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044812 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044812 ms (missed cycles : 3).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.706ms + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.000ms + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550143 ms (missed cycles : 3). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550143 ms (missed cycles : 3).[0m ×2 + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.973ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.888ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388374 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388374 ms (missed cycles : 2).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.412ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.483ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392130 ms (missed cycles : 5). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392130 ms (missed cycles : 5).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.266ms + 26.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.794ms + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901468 ms (missed cycles : 5). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901468 ms (missed cycles : 5).[0m ×2 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.023ms + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.417ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538292 ms (missed cycles : 4). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538292 ms (missed cycles : 4).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.416ms + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.058ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029990 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029990 ms (missed cycles : 3).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.273ms + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.826ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480491 ms (missed cycles : 3). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480491 ms (missed cycles : 3).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.067ms + 30.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2).[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.520ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.943ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.359ms + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7).[0m ×2 + 33.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.115ms + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2).[0m ×2 + 34.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910542.38960600 seconds ×3 + 34.32sINFOstate_estimatorReceived a set_pose request (stamp: 1791910542406290338, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.48sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.48sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.68sWARNlocal_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 + 34.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791910542.99673581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.05sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.899ms + 35.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.05sINFOamclInitializing particles from estimated pose and covariance + 35.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3).[0m ×2 + 35.31sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 35.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.838ms + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	82 warnings · 258 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559352 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559352 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121608 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121608 ms (missed cycles : 4).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435293 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435293 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.155ms + 2.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791910737.38434982 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405113 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405113 ms (missed cycles : 2).[0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1791910737406147059, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-3.80, 2.20) to (1.18, 7.18). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-3.80, 2.20) to (1.18, 7.18). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791910737.99018407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.766ms + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.90sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568119, y=-0.0171822, yaw=-0.0184028 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892814 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892814 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.113ms + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114123 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114123 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063195 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063195 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902026 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902026 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715177 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715177 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958168 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958168 ms (missed cycles : 3).[0m ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 10.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 10.30sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736097 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736097 ms (missed cycles : 3).[0m ×2 + 10.51sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 10.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (6.44e-07 s). ×2 + 11.29sINFOobjective_server_nodeFound path in 33 iterations (0.0352768 s). ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330272 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330272 ms (missed cycles : 2).[0m ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718614 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718614 ms (missed cycles : 2).[0m ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.47sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416398 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416398 ms (missed cycles : 3).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714381 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714381 ms (missed cycles : 2).[0m ×2 + 15.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050082 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050082 ms (missed cycles : 3).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335724 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335724 ms (missed cycles : 2).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.965ms + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.014ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3).[0m ×2 + 19.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791910753.83058596 seconds ×3 + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2).[0m ×2 + 19.51sINFOstate_estimatorReceived a set_pose request (stamp: 1791910753849656686, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 19.96sINFOamclParticle filter update iteration stats: 1766 particles 811 points - 6.257ms + 20.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910754.45195746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.11sINFOmove_groupClearing octomap...[0m ×2 + 20.11sINFOmove_groupOctomap cleared.[0m ×2 + 20.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4).[0m ×2 + 20.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910755.25210643 seconds ×3 + 21.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910755.83432674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3).[0m ×2 + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.610ms + 22.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910756.59445190 seconds ×3 + 22.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811702 ms (missed cycles : 2).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	114 errors · 30 warnings · 546 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.014ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3).[0m ×2 + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791910753.83058596 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2).[0m ×2 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791910753849656686, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 1.82sINFOamclParticle filter update iteration stats: 1766 particles 811 points - 6.257ms + 1.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.89sINFOobjective_server_nodecaller: ×4 + 1.89sINFOobjective_server_nodetype: 0 ×4 + 1.89sINFOobjective_server_nodename: "" ×4 + 1.89sINFOobjective_server_nodeinstance_id: "" ×4 + 1.89sINFOobjective_server_node ×4 + 1.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910754.45195746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910755.25210643 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910755.83432674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.51sINFOamclInitializing particles from estimated pose and covariance + 3.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.610ms + 4.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910756.59445190 seconds ×3 + 4.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811702 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811702 ms (missed cycles : 2).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252724 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252724 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940054 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940054 ms (missed cycles : 2).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461624 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461624 ms (missed cycles : 3).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621343 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621343 ms (missed cycles : 2).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291924 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291924 ms (missed cycles : 2).[0m ×2 + 10.51sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.52sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_video_auth_proxy-41process has died [pid 8166, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.53sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.54sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORweb_bridge_auth_proxy-40process has died [pid 8163, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.54sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.58sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.59sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.60sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.62sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.63sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.64sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.64sINFOvideo_server-39process has finished cleanly [pid 8162] ×2 + 10.64sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.65sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.66sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.68sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.69sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.70sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.72sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.73sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.75sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.77sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.78sINFOcontroller_managerShutdown request received.... + 10.78sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.78sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.78sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.78sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.78sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.78sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.78sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.78sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.78sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.78sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.78sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.78sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.78sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.78sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.78sINFOcontroller_managerShutting down the controller manager. + 10.78sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.80sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.81sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.81sERRORmove_group-25process has died [pid 8147, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_tmc8hcv7 --params-file /tmp/launch_params_pgj11_z3 --params-file /tmp/launch_params_e9m8xsaq --params-file /tmp/launch_params_89ytcxgv --params-file /tmp/launch_params_eogh3euq --params-file /tmp/launch_params_8jv2mnv_']. ×2 + 10.82sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.84sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.85sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.86sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.87sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.88sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.89sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.90sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.90sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.90sINFOmap_serverDeactivating + 10.90sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.91sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.91sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.91sINFOcontroller_serverDeactivating + 10.91sINFOlocal_costmap.local_costmapDeactivating + 10.91sINFOvideo_server2026/10/13 16:59:23 INF shutting down gracefully ×2 + 10.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOvideo_server2026/10/13 16:59:23 INF [WebRTC] closing ×2 + 10.91sINFOmap_serverCleaning up + 10.91sINFOvideo_server2026/10/13 16:59:23 INF [RTSP] closing ×2 + 10.91sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.91sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.91sINFOvideo_server2026/10/13 16:59:23 INF waiting for running hooks ×2 + 10.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.91sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.91sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.91sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.92sERRORmove_groupStack trace (most recent call last) in thread 8806: ×2 + 10.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc34545cc3, in __clone ×2 + 10.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc344b8b83, in ×2 + 10.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc34749db3, in ×2 + 10.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fcc34eb3064, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcc34add620, in rclcpp::Rate::sleep() ×2 + 10.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcc34a1fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcc349e1087, in ×2 + 10.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc34718390, in __cxa_throw ×2 + 10.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc34702a54, in std::terminate() ×2 + 10.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc347180d9, in ×2 + 10.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc34702ff4, in ×2 + 10.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc344448fe, in abort ×2 + 10.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc3446127d, in raise ×2 + 10.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc344bac0c, in pthread_kill ×2 + 10.92sERRORmove_groupAborted (Signal sent by tkill() 8147 0) ×2 + 10.92sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.92sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.92sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.92sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.92sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.92sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.92sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.92sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.92sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.92sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.92sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sERRORamclThe bond connection to the lifecycle manager has been broken + 10.98sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.99sINFOcontroller_serverCleaning up + 10.99sINFOlocal_costmap.local_costmapCleaning up + 10.99sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.99sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.99sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.03sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.03sINFOsmoother_serverDeactivating + 11.03sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.04sINFOsmoother_serverCleaning up + 11.06sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.06sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.06sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.06sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.06sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.06sINFOvelocity_smootherDeactivating + 11.06sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.06sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.06sINFOplanner_serverDeactivating + 11.06sINFOglobal_costmap.global_costmapDeactivating + 11.17sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.17sINFOwaypoint_followerDeactivating + 11.17sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.28sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.29sINFObt_navigatorDeactivating + 11.29sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.40sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.40sINFObehavior_serverDeactivating + 11.40sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.51sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.51sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.51sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.51sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.51sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.51sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.51sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.52sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.52sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.52sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.52sINFOvelocity_smootherCleaning up + 11.52sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.52sINFOwaypoint_followerCleaning up + 11.55sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.55sINFObt_navigatorCleaning up + 11.60sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.60sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.61sINFOplanner_serverCleaning up + 11.63sINFOglobal_costmap.global_costmapCleaning up + 11.64sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.64sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.65sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8161] ×2 + 11.65sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.66sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.66sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.66sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.66sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.66sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.66sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.66sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.66sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.66sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.66sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.66sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.66sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.66sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.66sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.66sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.66sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.68sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.68sINFObehavior_serverCleaning up + 11.68sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.68sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.68sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.68sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.72sINFOjoint_state_visualization_relay-37process has finished cleanly [pid 8160] ×2 + 11.72sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.73sERRORtf_visualization_relay-36process has died [pid 8159, 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_2dzevzsv']. ×2 + 11.73sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.73sINFObt_navigatorCompleted Cleaning up + 11.74sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.76sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8151] ×2 + 11.77sINFOui_teleop_bridge-34process has finished cleanly [pid 8157] ×2 + 11.77sINFOexecute_objective_bridge-33process has finished cleanly [pid 8156] ×2 + 11.77sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8150] ×2 + 11.79sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.79sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.79sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.79sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.82sINFOparameter_manager_node-26process has finished cleanly [pid 8148] ×2 + 11.84sINFOwaypoint_manager_node-27process has finished cleanly [pid 8149] ×2 + 11.85sINFOrelay-11process has finished cleanly [pid 8089] ×2 + 11.86sINFOrelay-10process has finished cleanly [pid 8088] ×2 + 11.87sINFOcomponent_container_mt-32process has finished cleanly [pid 8155] ×2 + 11.88sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7984] ×2 + 11.88sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8090] ×2 + 11.89sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7983] ×2 + 11.89sINFOobjective_server_node[2026-10-13 16:59:24.380] [moveit_pro_license] [critical] ×2 + 11.89sINFOobjective_server_node************************************************* ×4 + 11.89sINFOobjective_server_node* MoveIt Pro License ×2 + 11.89sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.89sINFOstatic_transform_publisher-7process has finished cleanly [pid 7982] ×2 + 11.90sINFOstatic_transform_publisher-6process has finished cleanly [pid 7981] ×2 + 11.91sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.91sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.91sINFOlidar_flattener.pymain() ×2 + 11.91sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.91sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.91sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.91sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.91sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.91sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.91sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.91sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.91sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.91sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.91sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.91sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.91sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.93sINFOstatic_transform_publisher-3process has finished cleanly [pid 7978] ×2 + 11.95sERRORlidar_flattener.py-5process has died [pid 7980, 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_haxdmdmb']. ×2 + 11.96sINFOobjective_server_node_main-30process has finished cleanly [pid 8152] ×2 + 11.96sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.06sERRORcomponent_container_isolated-1process has died [pid 7976, 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_zoo13zlx --params-file /tmp/launch_params_94rqxli6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.22sERRORcomponent_container_isolated-2process has died [pid 7977, 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_zoo13zlx --params-file /tmp/launch_params_o27j311w -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.90sINFOcomponent_container_mt-31process has finished cleanly [pid 8153] ×2 + 12.92sINFOodom_world_drift-4process has finished cleanly [pid 7979] ×2 + 13.42sINFOweb_bridge-35process has finished cleanly [pid 8158] ×2 + 13.42sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.51sINFOros2_control_node-13process has finished cleanly [pid 8091] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 73 warnings · 169 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247890 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247890 ms (missed cycles : 4).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.501ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163973 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163973 ms (missed cycles : 4).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.513ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903174 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903174 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.144ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942986 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942986 ms (missed cycles : 2).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791910595.06688643 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOstate_estimatorReceived a set_pose request (stamp: 1791910595084806790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 11.64) is out of map bounds (-3.25, 0.65) to (1.73, 5.63). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 12.16) is out of map bounds (-3.25, 0.65) to (1.73, 5.63). The costmap cannot raytrace for it. + 3.36sWARNlocal_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. ×4 + 3.36sWARNlocal_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. ×4 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.094ms + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791910595.66765952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789198 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789198 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815587 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815587 ms (missed cycles : 3).[0m ×2 + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.30sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.307ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647786 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647786 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478820 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478820 ms (missed cycles : 3).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699760 ms (missed cycles : 5). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699760 ms (missed cycles : 5).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.023ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090143 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090143 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.293ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966098 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966098 ms (missed cycles : 3).[0m ×2 + 10.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.178ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.115ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656999 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656999 ms (missed cycles : 4).[0m ×2 + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.751ms + 12.66sWARNros2_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 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120559 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120559 ms (missed cycles : 2).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.951ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.441ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173913 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173913 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_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 + 13.98sINFOjoint_trajectory_controllerGot request to cancel goal + 13.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.00sERRORobjective_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: 1791910605.91225553 seconds ×3 + 14.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791910605926191740, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.508ms + 14.16sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.16sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.52sINFOamclParticle filter update iteration stats: 4446 particles 811 points - 8.822ms + 14.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791910606.51081824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893578 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893578 ms (missed cycles : 5).[0m ×2 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892575 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892575 ms (missed cycles : 3).[0m ×2 + 16.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.309ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941507 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941507 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.5s	59 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986384 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986384 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_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 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125033 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125033 ms (missed cycles : 3).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824896 ms (missed cycles : 5). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824896 ms (missed cycles : 5).[0m ×2 + 9.20sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791910509.56130791 seconds ×3 + 9.39sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246213 ms (missed cycles : 4). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246213 ms (missed cycles : 4).[0m ×2 + 10.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.75sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.80sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791910511.15945554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243875 ms (missed cycles : 3). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243875 ms (missed cycles : 3).[0m ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231633 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231633 ms (missed cycles : 3).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230264 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230264 ms (missed cycles : 2).[0m ×2 + 13.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.6s	53 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197985 ms (missed cycles : 3).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.064ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.439ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717340 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717340 ms (missed cycles : 2).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.969ms + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.301ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.082ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075519 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075519 ms (missed cycles : 4).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791910673.16099954 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791910673182038054, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.823ms + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366097 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366097 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791910673.75881314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.712ms + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.49sINFOamclInitializing particles from estimated pose and covariance + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171803, yaw=-0.0183998 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.189ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580973 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580973 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211118 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211118 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 8.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 9.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 9.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.96sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.45sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 12.50sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 12.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	39 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910439.27871084 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791910439300142710, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910439.87024140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.5759e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2).[0m ×2 + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg) + 5.30sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg)[0m ×2 + 5.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0501635, y=-0.0203825, yaw=-0.00560377 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.751ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.092ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.434ms + 7.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.818ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500385 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500385 ms (missed cycles : 2).[0m ×2 + 7.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.236ms + 8.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.196ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141851 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141851 ms (missed cycles : 3).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.697ms + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.782ms + 9.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791910445.50040054 seconds ×3 + 9.42sINFOstate_estimatorReceived a set_pose request (stamp: 1791910445528543703, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193825 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193825 ms (missed cycles : 2).[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.447ms + 9.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.92sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791910446.11598420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.00sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 9.144ms + 10.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 10.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 10.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 10.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.106ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081682 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081682 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586943 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586943 ms (missed cycles : 4).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382072 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382072 ms (missed cycles : 3).[0m ×2 + 12.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.4s	21 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335724 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335724 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.965ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.014ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791910753.83058596 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 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2).[0m ×2 + 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 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791910753849656686, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 3.59sINFOamclParticle filter update iteration stats: 1766 particles 811 points - 6.257ms + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910754.45195746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910755.25210643 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910755.83432674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.610ms + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910756.59445190 seconds ×3 + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811702 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811702 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252724 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252724 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719905 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719905 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910439.27871084 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791910439300142710, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910439.87024140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.5759e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2).[0m ×2 + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg) + 5.30sINFOamclInitializing particles from estimated pose and covariance + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg)[0m ×2 + 5.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0501635, y=-0.0203825, yaw=-0.00560377 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.751ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.092ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668301 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367758 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627609 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910439.27871084 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409273 ms (missed cycles : 3).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791910439300142710, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910439.87024140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739436 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.5759e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587678 ms (missed cycles : 2).[0m ×2 + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg) + 5.30sINFOamclInitializing particles from estimated pose and covariance + 5.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.3 deg)[0m ×2 + 5.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0501635, y=-0.0203825, yaw=-0.00560377 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.751ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.092ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms
− skipped	Close Gripper	close_gripper.xml	0.0s	23 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− 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 4.235371 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235371 ms (missed cycles : 3).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.434ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.818ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500385 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500385 ms (missed cycles : 2).[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.236ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.196ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141851 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141851 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.697ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.782ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791910445.50040054 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1791910445528543703, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193825 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193825 ms (missed cycles : 2).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.447ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791910446.11598420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 9.144ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.106ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081682 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081682 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586943 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586943 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382072 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382072 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	36 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747772 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530113 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910503.07612443 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1791910503098194657, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-4.20, 3.65) to (0.78, 8.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910503.68116236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.790ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.349ms + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal + 4.14sINFOjoint_trajectory_controllerAccepted new action goal + 4.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922409 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520936 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	33 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.520ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.943ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.359ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.115ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910542.38960600 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1791910542406290338, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.64sWARNlocal_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 + 3.64sWARNlocal_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791910542.99673581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.899ms + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.01sINFOamclInitializing particles from estimated pose and covariance + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.838ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	33 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.520ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.943ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.359ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.115ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910542.38960600 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1791910542406290338, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.64sWARNlocal_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 + 3.64sWARNlocal_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791910542.99673581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.899ms + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.01sINFOamclInitializing particles from estimated pose and covariance + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.838ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	33 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699195 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.520ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.943ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419033 ms (missed cycles : 5).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.359ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331794 ms (missed cycles : 7).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.115ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952622 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910542.38960600 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1791910542406290338, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.64sWARNlocal_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 + 3.64sWARNlocal_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791910542.99673581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.899ms + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.01sINFOamclInitializing particles from estimated pose and covariance + 4.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959309 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.838ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953432 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853892 ms (missed cycles : 4).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	23 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	23 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974349 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961325 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781046 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_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 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910679.73896337 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804099 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910680.34422207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424825 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839742 ms (missed cycles : 2).[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421869 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	16 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335724 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335724 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.965ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.014ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766988 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791910753.83058596 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 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738797 ms (missed cycles : 2).[0m ×2 + 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 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791910753849656686, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 3.59sINFOamclParticle filter update iteration stats: 1766 particles 811 points - 6.257ms + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910754.45195746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734753 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910755.25210643 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910755.83432674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058648 ms (missed cycles : 3).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.610ms + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910756.59445190 seconds ×3 + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811702 ms (missed cycles : 2).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_nodecaller: ×10 + 2.09sINFOobjective_server_nodetype: 0 ×10 + 2.09sINFOobjective_server_nodename: "" ×10 + 2.09sINFOobjective_server_nodeinstance_id: "" ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.13sINFOmove_groupClearing octomap...[0m ×4 + 2.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×4 + 2.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	26 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	23 warnings · 340 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.79sINFOobjective_server_nodecaller: ×10 + 3.79sINFOobjective_server_nodetype: 0 ×10 + 3.79sINFOobjective_server_nodename: "" ×10 + 3.79sINFOobjective_server_nodeinstance_id: "" ×10 + 3.79sINFOobjective_server_node ×10 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.84sINFOmove_groupClearing octomap...[0m ×4 + 3.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.84sINFOmove_groupOctomap cleared.[0m ×4 + 3.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 7.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	23 warnings · 337 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.79sINFOobjective_server_nodecaller: ×10 + 3.79sINFOobjective_server_nodetype: 0 ×10 + 3.79sINFOobjective_server_nodename: "" ×10 + 3.79sINFOobjective_server_nodeinstance_id: "" ×10 + 3.79sINFOobjective_server_node ×10 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.84sINFOmove_groupClearing octomap...[0m ×4 + 3.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.84sINFOmove_groupOctomap cleared.[0m ×4 + 3.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	23 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	23 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	23 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148385 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.14sINFOmove_groupClearing octomap...[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×4 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200649 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_nodecaller: ×10 + 2.09sINFOobjective_server_nodetype: 0 ×10 + 2.09sINFOobjective_server_nodename: "" ×10 + 2.09sINFOobjective_server_nodeinstance_id: "" ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.13sINFOmove_groupClearing octomap...[0m ×4 + 2.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×4 + 2.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 seconds ×3 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719905 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719905 ms (missed cycles : 3).[0m ×2

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

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591397 ms (missed cycles : 2).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_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 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489523 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910393.57035923 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 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910393.58057022 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910394.17534423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910394.18553758 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669401 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910394.77545309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910394.92602420 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910395.53152037 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 ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695248 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910395.61166620 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 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910396.19886661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835311 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560604 ms (missed cycles : 3).[0m ×2