MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.8s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	22.3s	12 errors · 319 warnings · 1554 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/2026-10-13-18-55-44-950260-c1b236e1c80a-7915 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.88sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.88sINFOstatic_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' + 4.89sINFOstatic_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' + 5.06sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 5.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.14sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 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. + 5.18sINFOmap_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. + 5.18sINFOmap_serverCreating + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.22sINFOros2_control_node-13process started with pid [8080] ×2 + 5.22sINFOmove_group-25process started with pid [8135] ×2 + 5.22sINFOparameter_manager_node-26process started with pid [8137] ×2 + 5.22sINFOwaypoint_manager_node-27process started with pid [8138] ×2 + 5.22sINFOmove_joint_resampler_node-28process started with pid [8139] ×2 + 5.22sINFOmove_end_effector_resampler_node-29process started with pid [8140] ×2 + 5.22sINFOobjective_server_node_main-30process started with pid [8141] ×2 + 5.22sINFOcomponent_container_mt-31process started with pid [8142] ×2 + 5.22sINFOcomponent_container_mt-32process started with pid [8143] ×2 + 5.22sINFOexecute_objective_bridge-33process started with pid [8144] ×2 + 5.22sINFOui_teleop_bridge-34process started with pid [8146] ×2 + 5.22sINFOweb_bridge-35process started with pid [8147] ×2 + 5.22sINFOtf_visualization_relay-36process started with pid [8158] ×2 + 5.22sINFOjoint_state_visualization_relay-37process started with pid [8161] ×2 + 5.22sINFOtf2_web_republisher_node-38process started with pid [8164] ×2 + 5.22sINFOvideo_server-39process started with pid [8165] ×2 + 5.22sINFOweb_bridge_auth_proxy-40process started with pid [8166] ×2 + 5.22sINFOweb_video_auth_proxy-41process started with pid [8168] ×2 + 5.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.24sINFOcontroller_serverCreating controller server + 5.26sINFOcomponent_container_isolated-1process started with pid [7965] ×2 + 5.26sINFOcomponent_container_isolated-2process started with pid [7966] ×2 + 5.26sINFOstatic_transform_publisher-3process started with pid [7967] ×2 + 5.26sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.26sINFOodom_world_drift-4process started with pid [7968] ×2 + 5.26sINFOlidar_flattener.py-5process started with pid [7969] ×2 + 5.26sINFOstatic_transform_publisher-6process started with pid [7970] ×2 + 5.26sINFOstatic_transform_publisher-7process started with pid [7971] ×2 + 5.26sINFOscan_to_scan_filter_chain-8process started with pid [7972] ×2 + 5.26sINFOscan_to_scan_filter_chain-9process started with pid [7973] ×2 + 5.26sINFOrelay-10process started with pid [8077] ×2 + 5.26sINFOrelay-11process started with pid [8078] ×2 + 5.26sINFOfixed_lag_smoother_node-12process started with pid [8079] ×2 + 5.26sINFOros2-14process started with pid [8081] ×2 + 5.26sINFOros2-15process started with pid [8082] ×2 + 5.26sINFOros2-16process started with pid [8083] ×2 + 5.26sINFOros2-17process started with pid [8084] ×2 + 5.26sINFOros2-18process started with pid [8085] ×2 + 5.26sINFOros2-19process started with pid [8086] ×2 + 5.26sINFOros2-20process started with pid [8087] ×2 + 5.26sINFOros2-21process started with pid [8088] ×2 + 5.26sINFOros2-22process started with pid [8089] ×2 + 5.26sINFOros2-23process started with pid [8090] ×2 + 5.26sINFOros2-24process started with pid [8091] ×2 + 5.26sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.27sINFOstate_estimatorReceived a set_pose request (stamp: 1791917752101252713, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.27sINFOlocal_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. + 5.29sINFOcontroller_managerupdate rate is 600 Hz + 5.29sINFOcontroller_managerOverruns handling is : enabled + 5.29sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.29sWARNcontroller_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. + 5.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.29sINFOlocal_costmap.local_costmapCreating Costmap + 5.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.31sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.31sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.31sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.31sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.31sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.31sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.31sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.31sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.32sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.32sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.32sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.32sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.32sWARNros2_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 + 5.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067687 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067687 ms (missed cycles : 4).[0m ×2 + 5.37sINFOsmoother_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. + 5.39sINFOlifecycle_manager_localizationCreating + 5.41sINFOsmoother_serverCreating smoother server + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.42sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.43sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.43sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.44sINFOmap_serverConfiguring + 5.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.47sINFOplanner_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. + 5.49sINFOplanner_serverCreating + 5.54sINFOglobal_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. + 5.54sINFOglobal_costmap.global_costmapCreating Costmap + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.58sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.58sINFOamclConfiguring + 5.58sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.59sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.60sINFOmap_serverActivating + 5.60sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.61sINFObehavior_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. + 5.61sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.63sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.71sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.71sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.71sINFOamclActivating + 5.71sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.72sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.72sINFObt_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. + 5.73sINFOrobot_state_publisherRobot initialized + 5.73sINFOcontroller_managerReceived robot description from topic. + 5.73sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.73sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.74sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.74sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.76sINFOamclSubscribed to map_topic: /map + 5.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.76sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.76sINFOamclCreated reinitialize_global_localization service + 5.76sINFOvideo_server2026/10/13 18:55:52 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.76sINFOvideo_server2026/10/13 18:55:52 INF configuration loaded from /tmp/moveit-webrtc-50aracbv/mediamtx.yml ×2 + 5.76sINFOvideo_server2026/10/13 18:55:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.76sINFOvideo_server2026/10/13 18:55:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.76sINFOamclCreated request_nomotion_update service + 5.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.76sINFOamclA new map was received + 5.76sINFOamclInitializing particle filter instance + 5.77sINFObt_navigatorCreating + 5.77sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.87sINFOwaypoint_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. + 5.88sINFOwaypoint_followerCreating + 5.90sWARNlaser_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. + 5.90sWARNscan_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 + 5.90sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.91sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.91sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.92sWARNlaser_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. + 5.92sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.93sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.98sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.99sINFOvelocity_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. + 5.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 6.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 6.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 6.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 6.03sINFOlifecycle_manager_navigationCreating + 6.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 6.05sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 6.08sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 6.08sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 6.08sINFOcontroller_serverConfiguring controller interface + 6.08sINFOcontroller_servergetting progress checker plugins.. + 6.08sINFOcontroller_servergetting goal checker plugins.. + 6.08sINFOcontroller_serverController frequency set to 20.0000Hz + 6.08sINFOlocal_costmap.local_costmapConfiguring + 6.10sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 6.10sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.423623 seconds + 6.11sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.11sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.11sINFOmove_groupLoaded robot model in 0.423623 seconds[0m ×2 + 6.11sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.11sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.12sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.15sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.15sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.22sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.23sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.24sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.24sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.27sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.31sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.31sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.33sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.33sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.34sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.35sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.36sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.36sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.37sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.37sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.38sINFOcontroller_serverOptimizer reset ×2 + 6.41sINFOcontroller_serverController Server has FollowPath controllers available. + 6.43sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.43sINFOsmoother_serverConfiguring smoother server + 6.46sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.47sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.50sINFOweb_video_auth_proxy2026-10-13 18:55:53,334 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.50sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.50sINFOplanner_serverConfiguring + 6.50sINFOglobal_costmap.global_costmapConfiguring + 6.51sINFOweb_video_auth_proxy2026-10-13 18:55:53,339 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.51sINFOweb_bridge_auth_proxy2026-10-13 18:55:53,346 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.52sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.55sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.55sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.55sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.56sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.031842 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.031842 ms (missed cycles : 7).[0m ×2 + 6.61sINFOamclParticle filter initialization completed + 6.61sINFOamclInitializing particles from estimated pose and covariance + 6.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.64sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.64sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.66sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.72sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.72sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.72sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.72sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.74sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.74sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.75sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.76sINFOplanner_serverPlanner Server has GridBased planners available. + 6.80sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.80sINFObehavior_serverConfiguring + 6.81sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.82sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.82sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.83sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.84sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.86sINFObehavior_serverConfiguring spin + 6.88sINFObehavior_serverConfiguring backup + 6.89sINFObehavior_serverConfiguring drive_on_heading + 6.90sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.91sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.92sINFObehavior_serverConfiguring assisted_teleop + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sINFObehavior_serverConfiguring wait + 6.97sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.97sINFObt_navigatorConfiguring + 6.99sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 7.00sWARNbt_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 + 7.16sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 7.20sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.20sINFOwaypoint_followerConfiguring + 7.22sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.22sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.22sINFOvelocity_smootherConfiguring velocity smoother + 7.23sINFOwaypoint_manager_nodeLoaded robot model in 0.283282 seconds[0m ×2 + 7.23sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.23sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 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 ×3 + 7.29sINFOmove_group[2026-10-13 18:55:54.130] [moveit_pro_license] [info] ×2 + 7.29sINFOmove_group************************************************* ×4 + 7.29sINFOmove_group* MoveIt Pro License ×2 + 7.30sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.38sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.38sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.38sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.38sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.41sINFOros2_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 + 7.41sINFOros2_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 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062497 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062497 ms (missed cycles : 2).[0m ×2 + 7.74sWARNwaypoint_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. + 7.74sWARNwaypoint_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 + 7.74sWARNwaypoint_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. + 7.75sWARNwaypoint_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 + 7.75sWARNwaypoint_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. + 7.75sWARNwaypoint_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 + 7.75sWARNwaypoint_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. + 7.75sWARNwaypoint_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. + 7.75sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.75sWARNwaypoint_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 + 7.75sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.75sWARNwaypoint_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. + 7.75sWARNwaypoint_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 + 7.76sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.76sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.76sWARNwaypoint_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. + 7.76sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.76sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.76sWARNwaypoint_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. + 7.76sWARNwaypoint_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 + 7.76sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.76sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.76sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.76sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.76sWARNwaypoint_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 + 7.76sWARNwaypoint_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 + 7.76sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.77sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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 + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_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. + 7.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_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 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.78sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.78sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.78sWARNwaypoint_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 + 7.78sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.79sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.16sINFOwaypoint_manager_node[2026-10-13 18:55:54.996] [moveit_pro_license] [info] ×2 + 8.16sINFOwaypoint_manager_node************************************************* ×4 + 8.16sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 8.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.33sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.33sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.33sINFOros2_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 + 8.33sWARNros2_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 + 8.33sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.33sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.33sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.33sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.33sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.33sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.33sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.33sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.33sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.33sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.33sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.33sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.33sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.33sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.33sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.38sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.38sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.38sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.38sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.38sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 8.38sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 8.38sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.38sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.41sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.41sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.42sINFOcontroller_managerSuccessfully switched controllers! ×21 + 8.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 8.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.55sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.55sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.59sINFOros2_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 + 8.59sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.59sWARNros2_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 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842422 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842422 ms (missed cycles : 2).[0m ×2 + 8.66sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.67sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.68sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.70sINFOobjective_server_node[2026-10-13 18:55:55.532] [moveit_pro_license] [info] ×2 + 8.70sINFOobjective_server_node************************************************* ×4 + 8.70sINFOobjective_server_node* MoveIt Pro License ×2 + 8.70sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.73sINFOlocal_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. ×5 + 8.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.83sINFOobjective_server_nodeLoaded robot model in 0.0380989 seconds[0m ×2 + 8.83sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.83sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.86sINFOros2-15process has finished cleanly [pid 8082] ×2 + 8.92sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 8.92sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [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> + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 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<depth_image_proc::CropForemostNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 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 + 8.99sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.99sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.99sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.99sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[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 + 9.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.20sWARNcomponent_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 + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 9.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 9.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 9.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 9.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 9.28sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 9.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 9.28sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 9.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 9.28sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 9.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 9.29sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 9.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 9.29sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 9.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 9.29sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 9.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 9.29sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 9.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 9.29sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 9.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 9.30sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 9.30sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 9.30sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 9.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.30sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 9.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 9.30sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 9.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 9.38sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.38sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.39sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.51sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.55sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.55sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.55sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.55sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.55sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.55sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.55sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.55sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.57sINFOstreaming_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) + 9.57sINFOcomponent_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 + 9.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.57sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.59sINFOcomponent_container_mtLoaded robot model in 0.396115 seconds[0m ×2 + 9.59sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.59sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.60sINFOros2_control_node[2026-10-13 18:55:56.434] [info] Controller state will be published at 20 Hz. ×2 + 9.60sINFOros2_control_node[2026-10-13 18:55:56.435] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630788 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630788 ms (missed cycles : 2).[0m ×2 + 9.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.81sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.81sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.92sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.92sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.92sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.92sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 9.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 9.99sINFOros2-24process has finished cleanly [pid 8091] ×2 + 9.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.00sINFOforce_torque_sensor_broadcasterconfigure successful + 10.00sINFOros2_control_nodeconfigure successful[0m ×6 + 10.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.03sINFOmove_groupMoveGroup debug mode is ON + 10.03sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 10.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 10.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 10.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 10.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 10.09sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 10.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 10.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 10.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 10.13sWARNplanning_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. + 10.13sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNcomponent_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 + 10.14sWARNplanning_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. + 10.14sWARNplanning_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. + 10.15sWARNcomponent_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 + 10.15sWARNplanning_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. + 10.15sWARNplanning_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. + 10.15sWARNcomponent_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 + 10.15sWARNplanning_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. + 10.15sWARNplanning_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. + 10.15sWARNcomponent_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 + 10.15sWARNplanning_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. + 10.15sWARNcomponent_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 + 10.15sWARNplanning_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. + 10.15sWARNcomponent_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 + 10.15sWARNcomponent_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 + 10.15sWARNcomponent_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 + 10.15sWARNcomponent_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 + 10.15sWARNplanning_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. + 10.15sWARNplanning_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. + 10.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.15sWARNcomponent_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 + 10.15sWARNcomponent_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 + 10.15sWARNplanning_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. + 10.15sWARNplanning_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. + 10.16sWARNplanning_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. + 10.16sWARNcomponent_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 + 10.16sWARNcomponent_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 + 10.16sWARNplanning_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. + 10.16sWARNcomponent_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 + 10.16sWARNcomponent_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 + 10.16sWARNplanning_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. + 10.16sWARNcomponent_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 + 10.16sWARNplanning_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. + 10.16sWARNcomponent_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 + 10.16sWARNplanning_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. + 10.16sWARNplanning_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. + 10.16sWARNcomponent_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 + 10.16sWARNcomponent_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 + 10.16sWARNplanning_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. + 10.16sWARNplanning_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. + 10.16sWARNcomponent_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 + 10.16sWARNcomponent_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 + 10.23sINFOmove_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 ****************************************************** + 10.23sINFOmove_group ×8 + 10.23sINFOmove_group****************************************************** ×4 + 10.23sINFOmove_group* MoveGroup using: ×2 + 10.23sINFOmove_group* - apply_planning_scene_service ×2 + 10.23sINFOmove_group* - clear_octomap_service ×2 + 10.23sINFOmove_group* - get_group_urdf ×2 + 10.23sINFOmove_group* - load_geometry_from_file ×2 + 10.23sINFOmove_group* - get_planning_scene_service ×2 + 10.23sINFOmove_group* - kinematics_service ×2 + 10.23sINFOmove_group* - save_geometry_to_file ×2 + 10.23sINFOmove_group* - GetPlanningGroups ×2 + 10.23sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.23sINFOmove_group[0m ×2 + 10.23sINFOmove_group[92mYou can start planning now![0m ×2 + 10.38sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.38sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.38sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.38sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.39sINFOros2-14process has finished cleanly [pid 8081] ×2 + 10.39sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 10.39sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 10.41sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.44sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.44sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.44sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.44sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.44sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.44sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.45sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.46sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.48sINFOcomponent_container_mt[2026-10-13 18:55:57.313] [moveit_pro_license] [info] ×2 + 10.48sINFOcomponent_container_mt************************************************* ×4 + 10.48sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.48sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.67sWARNros2_control_nodeCamera render tick took 0.96 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.71sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.71sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.71sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.71sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 10.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684864 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684864 ms (missed cycles : 2).[0m ×2 + 10.83sINFOros2-18process has finished cleanly [pid 8085] ×2 + 10.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.88sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.88sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 11.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.22sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 11.22sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 11.23sINFOlocal_costmap.local_costmapstart + 11.24sINFOros2-16process has finished cleanly [pid 8083] ×2 + 11.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 11.30sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.30sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.30sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.30sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.30sINFOplatform_velocity_controller_nav2configure successful + 11.34sWARNcontroller_serverParameter controller_server.verbose not found + 11.34sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.44sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.44sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.45sINFOsmoother_serverActivating + 11.45sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.54sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791917757.568 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.55sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.55sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.55sINFOplanner_serverActivating + 11.55sINFOglobal_costmap.global_costmapActivating + 11.55sINFOglobal_costmap.global_costmapChecking transform + 11.55sINFOglobal_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. + 11.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.61sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.61sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 11.61sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 11.66sINFOros2-19process has finished cleanly [pid 8086] ×2 + 11.68sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.68sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.68sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.69sINFOplatform_velocity_controllerconfigure successful + 11.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.69sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.70sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.71sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791917756.543 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.81sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 24.563ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621233 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621233 ms (missed cycles : 3).[0m ×2 + 12.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 12.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 12.05sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791917758.842718, but only time 1791917759.091464 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.08sINFOros2-17process has finished cleanly [pid 8084] ×2 + 12.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.55sINFOglobal_costmap.global_costmapstart + 12.56sWARNobjective_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 + 12.61sINFOros2_control_node[2026-10-13 18:55:59.445] [info] Controller state will be published at 20 Hz. ×2 + 12.61sINFOros2_control_node[2026-10-13 18:55:59.447] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691000 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691000 ms (missed cycles : 3).[0m ×2 + 12.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.00sINFOros2-23process has finished cleanly [pid 8090] ×2 + 13.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 13.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 13.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 13.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 13.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.60sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.60sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.67sINFOros2_control_node[2026-10-13 18:56:00.502] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.67sINFOros2_control_node[2026-10-13 18:56:00.505] [info] Controller state will be published at 10 Hz. ×2 + 13.67sINFOros2_control_node[2026-10-13 18:56:00.506] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.71sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.71sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.71sINFObehavior_serverActivating + 13.71sINFObehavior_serverActivating spin + 13.71sINFObehavior_serverActivating backup + 13.71sINFObehavior_serverActivating drive_on_heading + 13.71sINFObehavior_serverActivating assisted_teleop + 13.71sINFObehavior_serverActivating wait + 13.71sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.82sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.82sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.82sINFObt_navigatorActivating + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153543 ms (missed cycles : 5). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153543 ms (missed cycles : 5).[0m ×2 + 13.90sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.01sINFOwaypoint_followerActivating + 14.01sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 14.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 14.08sINFOros2-21process has finished cleanly [pid 8088] ×2 + 14.11sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.11sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.11sINFOvelocity_smootherActivating + 14.12sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 14.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 14.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.18sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.19sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.23sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.23sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.23sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.55sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.55sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 14.55sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.55sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo + 14.55sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 14.55sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ffbnf9y3 --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_f0cq_yas --params-file /tmp/launch_params_0iz11ilo [0m ×2 + 14.58sINFOros2-20process has finished cleanly [pid 8087] ×2 + 14.61sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 14.61sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 14.61sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 14.61sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740789 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740789 ms (missed cycles : 2).[0m ×2 + 15.14sINFOros2_control_node[2026-10-13 18:56:01.970] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.14sINFOros2_control_node[2026-10-13 18:56:01.973] [info] Controller state will be published at 10 Hz. ×2 + 15.14sINFOros2_control_node[2026-10-13 18:56:01.974] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.53sINFOros2-22process has finished cleanly [pid 8089] ×2 + 15.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 15.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 15.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 15.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 15.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 15.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 15.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732308 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732308 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414443 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414443 ms (missed cycles : 3).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 18.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 20.46sWARNros2_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 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 21.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 21.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 21.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 21.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 21.52sINFOobjective_server_nodecaller: ×8 + 21.52sINFOobjective_server_nodetype: 0 ×8 + 21.52sINFOobjective_server_nodename: "" ×8 + 21.52sINFOobjective_server_nodeinstance_id: "" ×8 + 21.52sINFOobjective_server_node ×8 + 21.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 21.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 21.56sINFOmove_groupClearing octomap...[0m ×4 + 21.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 21.56sINFOmove_groupOctomap cleared.[0m ×4 + 21.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 21.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 22.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 22.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 22.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 22.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 23.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 23.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 23.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 23.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 23.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 23.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 23.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 23.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3
✓ 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 3.414443 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414443 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.42sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.42sINFOobjective_server_nodecaller: ×10 + 4.42sINFOobjective_server_nodetype: 0 ×10 + 4.42sINFOobjective_server_nodename: "" ×10 + 4.42sINFOobjective_server_nodeinstance_id: "" ×10 + 4.42sINFOobjective_server_node ×10 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.46sINFOmove_groupClearing octomap...[0m ×4 + 4.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.46sINFOmove_groupOctomap cleared.[0m ×4 + 4.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 7.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 7.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 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	65.6s	3 errors · 260 warnings · 283 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 0.01sWARNros2_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 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106213 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106213 ms (missed cycles : 5).[0m ×2 + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.142ms + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.652ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248612 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248612 ms (missed cycles : 2).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.475ms + 2.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.223ms + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.213ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604014 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604014 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sERRORobjective_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: 1791917981.41812229 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOstate_estimatorReceived a set_pose request (stamp: 1791917981439273439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_nodecaller: ×4 + 3.86sINFOobjective_server_nodetype: 0 ×4 + 3.86sINFOobjective_server_nodename: "" ×4 + 3.86sINFOobjective_server_nodeinstance_id: "" ×4 + 3.86sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791917982.01977706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.213ms + 3.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.92sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.92sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171797, yaw=-0.0183991 + 3.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885201 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885201 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.089ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782008 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782008 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916191 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916191 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.71sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.71sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.71sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.71sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170686 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170686 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334841 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334841 ms (missed cycles : 3).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.303ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311774 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311774 ms (missed cycles : 4).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.051ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309640 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309640 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.277ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217313 ms (missed cycles : 4). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217313 ms (missed cycles : 4).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.243ms + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.840ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935727 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935727 ms (missed cycles : 3).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.067ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573788 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573788 ms (missed cycles : 2).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.928ms + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.639ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709450 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709450 ms (missed cycles : 2).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.940ms + 15.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020824 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020824 ms (missed cycles : 2).[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.356ms + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.650ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055587 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055587 ms (missed cycles : 2).[0m ×2 + 16.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.820ms + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.421ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083339 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083339 ms (missed cycles : 2).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.527ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.334ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976372 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976372 ms (missed cycles : 3).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.499ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.138ms + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516647 ms (missed cycles : 2). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516647 ms (missed cycles : 2).[0m ×2 + 19.93sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.403ms + 19.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 20.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.138ms + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011594 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011594 ms (missed cycles : 2).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.102ms + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.235ms + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910989 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910989 ms (missed cycles : 2).[0m ×2 + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.827ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.691ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727861 ms (missed cycles : 3). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727861 ms (missed cycles : 3).[0m ×2 + 23.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.584ms + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.788ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226681 ms (missed cycles : 2). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226681 ms (missed cycles : 2).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.024ms + 25.07sWARNros2_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 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2 + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.539ms + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.667ms + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924543 ms (missed cycles : 5). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924543 ms (missed cycles : 5).[0m ×2 + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.294ms + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.402ms + 27.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346522 ms (missed cycles : 4). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346522 ms (missed cycles : 4).[0m ×2 + 27.59sWARNros2_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 ×6 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.686ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268285 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268285 ms (missed cycles : 2).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.702ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324742 ms (missed cycles : 2). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324742 ms (missed cycles : 2).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.707ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960797 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960797 ms (missed cycles : 2).[0m ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.195ms + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.279ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.197ms + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715647 ms (missed cycles : 3). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715647 ms (missed cycles : 3).[0m ×2 + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.750ms + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.638ms + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782953 ms (missed cycles : 2). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782953 ms (missed cycles : 2).[0m ×2 + 33.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.218ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.083332 ms (missed cycles : 6). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.083332 ms (missed cycles : 6).[0m ×2 + 34.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.360ms + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049586 ms (missed cycles : 3). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049586 ms (missed cycles : 3).[0m ×2 + 35.08sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.08sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087817 ms (missed cycles : 4). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087817 ms (missed cycles : 4).[0m ×2 + 36.66sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723195 ms (missed cycles : 5). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723195 ms (missed cycles : 5).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089621 ms (missed cycles : 2). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089621 ms (missed cycles : 2).[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854556 ms (missed cycles : 2). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854556 ms (missed cycles : 2).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.819ms + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100282 ms (missed cycles : 4). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100282 ms (missed cycles : 4).[0m ×2 + 40.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.663ms + 40.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.393ms + 40.85sWARNros2_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 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783979 ms (missed cycles : 2). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783979 ms (missed cycles : 2).[0m ×2 + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.035ms + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119702 ms (missed cycles : 2). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119702 ms (missed cycles : 2).[0m ×2 + 42.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.267ms + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655030 ms (missed cycles : 4). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655030 ms (missed cycles : 4).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675341 ms (missed cycles : 2). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675341 ms (missed cycles : 2).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.958ms + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491141 ms (missed cycles : 6). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491141 ms (missed cycles : 6).[0m ×2 + 46.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.437ms + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402964 ms (missed cycles : 3). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402964 ms (missed cycles : 3).[0m ×2 + 46.83sWARNros2_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 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543971 ms (missed cycles : 3). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543971 ms (missed cycles : 3).[0m ×2 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.313ms + 48.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.804ms + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015914 ms (missed cycles : 3). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015914 ms (missed cycles : 3).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.119ms + 49.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.623ms + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179412 ms (missed cycles : 2). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179412 ms (missed cycles : 2).[0m ×2 + 50.27sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 50.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.789ms + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423015 ms (missed cycles : 3). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423015 ms (missed cycles : 3).[0m ×2 + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624140 ms (missed cycles : 3). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624140 ms (missed cycles : 3).[0m ×2 + 53.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192650 ms (missed cycles : 2). + 53.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192650 ms (missed cycles : 2).[0m ×2 + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906620 ms (missed cycles : 2). + 54.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906620 ms (missed cycles : 2).[0m ×2 + 54.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.145ms + 54.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.069ms + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792445 ms (missed cycles : 3). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792445 ms (missed cycles : 3).[0m ×2 + 55.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.347ms + 56.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473321 ms (missed cycles : 5). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473321 ms (missed cycles : 5).[0m ×2 + 56.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.285ms + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979517 ms (missed cycles : 2). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979517 ms (missed cycles : 2).[0m ×2 + 58.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.126ms + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544991 ms (missed cycles : 6). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544991 ms (missed cycles : 6).[0m ×2 + 58.57sWARNros2_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 + 59.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.200ms + 59.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090688 ms (missed cycles : 2). + 59.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090688 ms (missed cycles : 2).[0m ×2 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776562 ms (missed cycles : 2). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776562 ms (missed cycles : 2).[0m ×2 + 61.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634233 ms (missed cycles : 2). + 61.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634233 ms (missed cycles : 2).[0m ×2 + 62.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786492 ms (missed cycles : 2). + 62.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786492 ms (missed cycles : 2).[0m ×2 + 63.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.988ms + 63.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689219 ms (missed cycles : 2). + 63.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689219 ms (missed cycles : 2).[0m ×2 + 64.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902667 ms (missed cycles : 5). + 64.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902667 ms (missed cycles : 5).[0m ×2 + 65.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.953ms + 65.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682557 ms (missed cycles : 3). + 65.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682557 ms (missed cycles : 3).[0m ×2 + 66.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.871ms + 66.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.610ms + 66.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868501 ms (missed cycles : 2). + 66.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868501 ms (missed cycles : 2).[0m ×2 + 67.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.773ms + 67.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 67.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348171 ms (missed cycles : 5). + 67.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348171 ms (missed cycles : 5).[0m ×2 + 68.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.206ms + 68.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791918047.03261018 seconds ×3 + 68.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888731 ms (missed cycles : 2). + 68.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888731 ms (missed cycles : 2).[0m ×2 + 68.97sINFOstate_estimatorReceived a set_pose request (stamp: 1791918047054144378, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 69.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 69.17sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.17sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.47sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.50sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.670ms + 69.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791918047.62174320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 70.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813510 ms (missed cycles : 2). + 70.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813510 ms (missed cycles : 2).[0m ×2 + 71.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 71.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 71.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549662, y=-0.0158044, yaw=-0.0122158 + 71.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2). + 71.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2).[0m ×2 + 71.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.230ms + 72.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 72.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	218 warnings · 234 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3).[0m ×2 + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.959ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144593 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144593 ms (missed cycles : 2).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.609ms + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.226ms + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.151ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936835 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936835 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.281ms + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.303ms + 3.32sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.32sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791917820.36005616 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.38sINFOstate_estimatorReceived a set_pose request (stamp: 1791917820376073387, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575128 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575128 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.543ms + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.95sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791917820.95519876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOamclParticle filter update iteration stats: 1491 particles 811 points - 6.281ms + 4.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.05sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501617 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501617 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_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 + 4.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.910ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325884 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325884 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687678 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687678 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.84sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.84sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007857 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007857 ms (missed cycles : 3).[0m ×2 + 8.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496350 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496350 ms (missed cycles : 2).[0m ×2 + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.922ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862838 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862838 ms (missed cycles : 2).[0m ×2 + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.425ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470286 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470286 ms (missed cycles : 3).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.851ms + 11.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.434ms + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925813 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925813 ms (missed cycles : 2).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.579ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726324 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726324 ms (missed cycles : 2).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.686ms + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 13.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592655 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592655 ms (missed cycles : 4).[0m ×2 + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.710ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179617 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179617 ms (missed cycles : 3).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.320ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.269ms + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.250ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438768 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438768 ms (missed cycles : 3).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.431ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.159ms + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950801 ms (missed cycles : 2). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950801 ms (missed cycles : 2).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.394ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628383 ms (missed cycles : 3). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628383 ms (missed cycles : 3).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.040ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.819ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967986 ms (missed cycles : 3). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967986 ms (missed cycles : 3).[0m ×2 + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.363ms + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.175ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912231 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912231 ms (missed cycles : 2).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.940ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.166ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172613 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172613 ms (missed cycles : 2).[0m ×2 + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.121ms + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.794ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858649 ms (missed cycles : 6). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858649 ms (missed cycles : 6).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.760ms + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.989ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014459 ms (missed cycles : 4). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014459 ms (missed cycles : 4).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.813ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889033 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889033 ms (missed cycles : 2).[0m ×2 + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.929ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.294ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.078ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727198 ms (missed cycles : 4). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727198 ms (missed cycles : 4).[0m ×2 + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.556ms + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.670ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304846 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304846 ms (missed cycles : 2).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.809ms + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.458ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979181 ms (missed cycles : 4). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979181 ms (missed cycles : 4).[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.805ms + 28.83sWARNros2_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 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309361 ms (missed cycles : 2). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309361 ms (missed cycles : 2).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307190 ms (missed cycles : 3). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307190 ms (missed cycles : 3).[0m ×2 + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.850ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.385ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.441ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553299 ms (missed cycles : 4). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553299 ms (missed cycles : 4).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.892ms + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550159 ms (missed cycles : 7). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550159 ms (missed cycles : 7).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.360ms + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.258ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.489ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104996 ms (missed cycles : 4). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104996 ms (missed cycles : 4).[0m ×2 + 35.25sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628734 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628734 ms (missed cycles : 2).[0m ×2 + 36.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.125ms + 36.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707612 ms (missed cycles : 3). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707612 ms (missed cycles : 3).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561158 ms (missed cycles : 3). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561158 ms (missed cycles : 3).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681470 ms (missed cycles : 2). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681470 ms (missed cycles : 2).[0m ×2 + 40.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090403 ms (missed cycles : 5). + 40.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090403 ms (missed cycles : 5).[0m ×2 + 40.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.467ms + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302669 ms (missed cycles : 4). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302669 ms (missed cycles : 4).[0m ×2 + 41.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.544ms + 42.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073607 ms (missed cycles : 2). + 42.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073607 ms (missed cycles : 2).[0m ×2 + 42.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.351ms + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771461 ms (missed cycles : 2). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771461 ms (missed cycles : 2).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732492 ms (missed cycles : 4). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732492 ms (missed cycles : 4).[0m ×2 + 45.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.618ms + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098836 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098836 ms (missed cycles : 3).[0m ×2 + 46.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.326ms + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701370 ms (missed cycles : 5). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701370 ms (missed cycles : 5).[0m ×2 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863202 ms (missed cycles : 3). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863202 ms (missed cycles : 3).[0m ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117203 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117203 ms (missed cycles : 2).[0m ×2 + 48.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.978ms + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840317 ms (missed cycles : 3). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840317 ms (missed cycles : 3).[0m ×2 + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789735 ms (missed cycles : 2). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789735 ms (missed cycles : 2).[0m ×2 + 51.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742431 ms (missed cycles : 3). + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742431 ms (missed cycles : 3).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.596ms + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480232 ms (missed cycles : 4). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480232 ms (missed cycles : 4).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021457 ms (missed cycles : 2). + 53.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021457 ms (missed cycles : 2).[0m ×2 + 54.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793896 ms (missed cycles : 3). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793896 ms (missed cycles : 3).[0m ×2 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462653 ms (missed cycles : 5). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462653 ms (missed cycles : 5).[0m ×2 + 56.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.896ms + 57.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445778 ms (missed cycles : 3). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445778 ms (missed cycles : 3).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 60.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 60.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 60.94sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 61.06sWARNlocal_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 + 61.06sWARNlocal_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 + 61.26sWARNlocal_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 + 61.26sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 61.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.67sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 61.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 61.96sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 62.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 62.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 63.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 63.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 64.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 64.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	228 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.64sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197346 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197346 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353348 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353348 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820457 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820457 ms (missed cycles : 3).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.894ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329613 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329613 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847084 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847084 ms (missed cycles : 2).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.967ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.243ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766714 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766714 ms (missed cycles : 3).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.381ms + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.402ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226110 ms (missed cycles : 4). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226110 ms (missed cycles : 4).[0m ×2 + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.030ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.257ms + 14.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473294 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473294 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.742ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.885ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894483 ms (missed cycles : 5). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894483 ms (missed cycles : 5).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.756ms + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.879ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043855 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043855 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.324ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.552ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088476 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088476 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.942ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.065ms + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341521 ms (missed cycles : 4). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341521 ms (missed cycles : 4).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.100ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.424ms + 20.23sWARNros2_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 + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.992ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254068 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254068 ms (missed cycles : 2).[0m ×2 + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.020ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.337ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063789 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063789 ms (missed cycles : 2).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.522ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.524ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213655 ms (missed cycles : 2). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213655 ms (missed cycles : 2).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.059ms + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.370ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136588 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136588 ms (missed cycles : 3).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.129ms + 23.84sWARNros2_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 ×4 + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.714ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749050 ms (missed cycles : 3). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749050 ms (missed cycles : 3).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.760ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.187ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559705 ms (missed cycles : 4). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559705 ms (missed cycles : 4).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.146ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.448ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413574 ms (missed cycles : 3). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413574 ms (missed cycles : 3).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.178ms + 27.38sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.381ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377581 ms (missed cycles : 2). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377581 ms (missed cycles : 2).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.325ms ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.702ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394939 ms (missed cycles : 3). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394939 ms (missed cycles : 3).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.043ms + 29.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.406ms + 29.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220492 ms (missed cycles : 2). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220492 ms (missed cycles : 2).[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.539ms + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.632ms + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.109ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257569 ms (missed cycles : 4). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257569 ms (missed cycles : 4).[0m ×2 + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.281ms + 31.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.416ms + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647088 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647088 ms (missed cycles : 2).[0m ×2 + 32.49sWARNros2_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 + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.766ms + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.135ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963429 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963429 ms (missed cycles : 2).[0m ×2 + 33.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702912 ms (missed cycles : 5). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702912 ms (missed cycles : 5).[0m ×2 + 35.06sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182942 ms (missed cycles : 4). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182942 ms (missed cycles : 4).[0m ×2 + 35.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.005ms + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222400 ms (missed cycles : 3). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222400 ms (missed cycles : 3).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286900 ms (missed cycles : 4). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286900 ms (missed cycles : 4).[0m ×2 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296904 ms (missed cycles : 5). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296904 ms (missed cycles : 5).[0m ×2 + 39.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.329576 ms (missed cycles : 6). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.329576 ms (missed cycles : 6).[0m ×2 + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989021 ms (missed cycles : 2). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989021 ms (missed cycles : 2).[0m ×2 + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332415 ms (missed cycles : 2). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332415 ms (missed cycles : 2).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.903ms + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880981 ms (missed cycles : 2). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880981 ms (missed cycles : 2).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455398 ms (missed cycles : 2). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455398 ms (missed cycles : 2).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786576 ms (missed cycles : 3). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786576 ms (missed cycles : 3).[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231694 ms (missed cycles : 2). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231694 ms (missed cycles : 2).[0m ×2 + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934043 ms (missed cycles : 3). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934043 ms (missed cycles : 3).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323910 ms (missed cycles : 3). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323910 ms (missed cycles : 3).[0m ×2 + 48.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.593ms + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487051 ms (missed cycles : 3). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487051 ms (missed cycles : 3).[0m ×2 + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524871 ms (missed cycles : 2). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524871 ms (missed cycles : 2).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656403 ms (missed cycles : 3). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656403 ms (missed cycles : 3).[0m ×2 + 52.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.838ms + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257071 ms (missed cycles : 3). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257071 ms (missed cycles : 3).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186646 ms (missed cycles : 3). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186646 ms (missed cycles : 3).[0m ×2 + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740438 ms (missed cycles : 3). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740438 ms (missed cycles : 3).[0m ×2 + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249176 ms (missed cycles : 2). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249176 ms (missed cycles : 2).[0m ×2 + 56.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.955ms + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877007 ms (missed cycles : 3). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877007 ms (missed cycles : 3).[0m ×2 + 57.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 57.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878150 ms (missed cycles : 2). + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878150 ms (missed cycles : 2).[0m ×2 + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533921 ms (missed cycles : 3). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533921 ms (missed cycles : 3).[0m ×2 + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139434 ms (missed cycles : 5). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139434 ms (missed cycles : 5).[0m ×2 + 59.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.083ms + 60.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990764 ms (missed cycles : 3). + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990764 ms (missed cycles : 3).[0m ×2 + 60.66sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791918111.05639577 seconds ×3 + 60.69sINFOstate_estimatorReceived a set_pose request (stamp: 1791918111075631940, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 61.19sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.818ms + 61.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791918111.66491985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705531 ms (missed cycles : 2). + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705531 ms (missed cycles : 2).[0m ×2 + 61.71sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 62.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113021 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113021 ms (missed cycles : 2).[0m ×2 + 62.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 62.83sINFOamclInitializing particles from estimated pose and covariance + 62.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 62.83sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.055087, y=-0.0166762, yaw=-0.0173777 + 62.99sWARNglobal_costmap.global_costmapSensor origin at (-5.24, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.334ms + 63.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267958 ms (missed cycles : 2). + 63.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267958 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.3s	217 warnings · 243 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.242ms + 1.01sWARNros2_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 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791917917.20207024 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sINFOstate_estimatorReceived a set_pose request (stamp: 1791917917222476051, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.93sINFOobjective_server_nodecaller: ×4 + 3.93sINFOobjective_server_nodetype: 0 ×4 + 3.93sINFOobjective_server_nodename: "" ×4 + 3.93sINFOobjective_server_nodeinstance_id: "" ×4 + 3.93sINFOobjective_server_node ×4 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.249ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791917917.80130315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3).[0m ×2 + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.53sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.828ms + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2).[0m ×2 + 6.79sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.81sWARNros2_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 + 6.85sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.85sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.85sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414426 ms (missed cycles : 5). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414426 ms (missed cycles : 5).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893617 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893617 ms (missed cycles : 2).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569962 ms (missed cycles : 4). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569962 ms (missed cycles : 4).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.347ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130188 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130188 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.232ms + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204566 ms (missed cycles : 5). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204566 ms (missed cycles : 5).[0m ×2 + 11.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.483ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.130ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688096 ms (missed cycles : 5). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688096 ms (missed cycles : 5).[0m ×2 + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.779ms + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538658 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538658 ms (missed cycles : 3).[0m ×2 + 13.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.215ms + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.227ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474720 ms (missed cycles : 3). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474720 ms (missed cycles : 3).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.354ms + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.769ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.926ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409934 ms (missed cycles : 4). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409934 ms (missed cycles : 4).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.336ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.182ms + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968900 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968900 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.315ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.270ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866738 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866738 ms (missed cycles : 3).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.183ms + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019128 ms (missed cycles : 2). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019128 ms (missed cycles : 2).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.851ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.000ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937141 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937141 ms (missed cycles : 2).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.100ms + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.055ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761253 ms (missed cycles : 4). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761253 ms (missed cycles : 4).[0m ×2 + 20.79sWARNros2_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 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.532ms + 20.82sWARNros2_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 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.121ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547027 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547027 ms (missed cycles : 3).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.572ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839934 ms (missed cycles : 2). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839934 ms (missed cycles : 2).[0m ×2 + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.597ms + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.541ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927877 ms (missed cycles : 6). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927877 ms (missed cycles : 6).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.728ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.133ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981552 ms (missed cycles : 2). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981552 ms (missed cycles : 2).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.209ms + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.643ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735637 ms (missed cycles : 4). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735637 ms (missed cycles : 4).[0m ×2 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.203ms + 25.86sWARNros2_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 ×4 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.325ms + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.706ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883243 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883243 ms (missed cycles : 2).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.729ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.334ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428155 ms (missed cycles : 6). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428155 ms (missed cycles : 6).[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.750ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.146ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681949 ms (missed cycles : 3). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681949 ms (missed cycles : 3).[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.907ms + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510891 ms (missed cycles : 4). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510891 ms (missed cycles : 4).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.656ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.007ms + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334108 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334108 ms (missed cycles : 3).[0m ×2 + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.431ms + 31.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.329ms + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963775 ms (missed cycles : 4). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963775 ms (missed cycles : 4).[0m ×2 + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.067ms + 33.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.278ms + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438154 ms (missed cycles : 3). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438154 ms (missed cycles : 3).[0m ×2 + 34.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.215ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.301592 ms (missed cycles : 5). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.301592 ms (missed cycles : 5).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361110 ms (missed cycles : 3). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361110 ms (missed cycles : 3).[0m ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652069 ms (missed cycles : 3). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652069 ms (missed cycles : 3).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031868 ms (missed cycles : 5). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031868 ms (missed cycles : 5).[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408113 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408113 ms (missed cycles : 2).[0m ×2 + 39.24sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723879 ms (missed cycles : 3). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723879 ms (missed cycles : 3).[0m ×2 + 40.11sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213841 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213841 ms (missed cycles : 2).[0m ×2 + 41.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.250ms + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604456 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604456 ms (missed cycles : 3).[0m ×2 + 42.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.051ms + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988582 ms (missed cycles : 2). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988582 ms (missed cycles : 2).[0m ×2 + 43.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.572ms + 43.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 43.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.819ms + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236986 ms (missed cycles : 2). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236986 ms (missed cycles : 2).[0m ×2 + 44.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.160ms + 44.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.144ms + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795868 ms (missed cycles : 3). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795868 ms (missed cycles : 3).[0m ×2 + 45.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.105ms + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953984 ms (missed cycles : 2). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953984 ms (missed cycles : 2).[0m ×2 + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715030 ms (missed cycles : 2). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715030 ms (missed cycles : 2).[0m ×2 + 48.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.274ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814625 ms (missed cycles : 2). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814625 ms (missed cycles : 2).[0m ×2 + 48.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.121ms ×2 + 48.74sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 49.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.665ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006286 ms (missed cycles : 3). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006286 ms (missed cycles : 3).[0m ×2 + 49.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.291ms + 50.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.968ms + 50.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904890 ms (missed cycles : 4). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904890 ms (missed cycles : 4).[0m ×2 + 50.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.560ms + 51.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.133ms + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228578 ms (missed cycles : 4). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228578 ms (missed cycles : 4).[0m ×2 + 51.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.920ms + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.830162 ms (missed cycles : 7). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.830162 ms (missed cycles : 7).[0m ×2 + 52.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.062ms + 53.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032535 ms (missed cycles : 4). + 53.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032535 ms (missed cycles : 4).[0m ×2 + 54.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722291 ms (missed cycles : 2). + 54.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722291 ms (missed cycles : 2).[0m ×2 + 54.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.848ms + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367657 ms (missed cycles : 3). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367657 ms (missed cycles : 3).[0m ×2 + 56.64sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791917970.46151018 seconds ×3 + 56.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791917970481043486, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 56.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734613 ms (missed cycles : 3). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734613 ms (missed cycles : 3).[0m ×2 + 56.85sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 56.85sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 57.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 57.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 57.24sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.024ms + 57.24sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 57.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791917971.07515669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.66sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 57.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.219ms + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944490 ms (missed cycles : 4). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944490 ms (missed cycles : 4).[0m ×2 + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787600 ms (missed cycles : 3). + 58.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787600 ms (missed cycles : 3).[0m ×2 + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623614 ms (missed cycles : 4). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623614 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	146 warnings · 426 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.20sINFOobjective_server_nodecaller: ×12 + 1.20sINFOobjective_server_nodetype: 0 ×12 + 1.20sINFOobjective_server_nodename: "" ×12 + 1.20sINFOobjective_server_nodeinstance_id: "" ×12 + 1.20sINFOobjective_server_node ×12 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741832 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741832 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586392 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586392 ms (missed cycles : 3).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.669ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505394 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505394 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433329 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433329 ms (missed cycles : 3).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255808 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255808 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819795 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819795 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876982 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876982 ms (missed cycles : 4).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496733 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496733 ms (missed cycles : 3).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284692 ms (missed cycles : 4). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284692 ms (missed cycles : 4).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575682 ms (missed cycles : 3). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575682 ms (missed cycles : 3).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781126 ms (missed cycles : 3). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781126 ms (missed cycles : 3).[0m ×2 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198913 ms (missed cycles : 3). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198913 ms (missed cycles : 3).[0m ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3).[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484318 ms (missed cycles : 3). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484318 ms (missed cycles : 3).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366771 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366771 ms (missed cycles : 2).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989304 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989304 ms (missed cycles : 2).[0m ×2 + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.465ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994979 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994979 ms (missed cycles : 2).[0m ×2 + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910446 ms (missed cycles : 5). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910446 ms (missed cycles : 5).[0m ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050462 ms (missed cycles : 3). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050462 ms (missed cycles : 3).[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904564 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904564 ms (missed cycles : 3).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704454 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704454 ms (missed cycles : 2).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188467 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188467 ms (missed cycles : 2).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179920 ms (missed cycles : 3). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179920 ms (missed cycles : 3).[0m ×2 + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454542 ms (missed cycles : 4). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454542 ms (missed cycles : 4).[0m ×2 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503863 ms (missed cycles : 3). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503863 ms (missed cycles : 3).[0m ×2 + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073757 ms (missed cycles : 3). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073757 ms (missed cycles : 3).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848526 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848526 ms (missed cycles : 3).[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464702 ms (missed cycles : 3). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464702 ms (missed cycles : 3).[0m ×2 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424435 ms (missed cycles : 3). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424435 ms (missed cycles : 3).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619109 ms (missed cycles : 2). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619109 ms (missed cycles : 2).[0m ×2 + 38.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.921ms + 38.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756737 ms (missed cycles : 2). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756737 ms (missed cycles : 2).[0m ×2 + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848412 ms (missed cycles : 3). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848412 ms (missed cycles : 3).[0m ×2 + 40.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533990 ms (missed cycles : 4). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533990 ms (missed cycles : 4).[0m ×2 + 41.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515805 ms (missed cycles : 3). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515805 ms (missed cycles : 3).[0m ×2 + 42.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293776 ms (missed cycles : 2). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293776 ms (missed cycles : 2).[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2).[0m ×2 + 44.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3).[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5).[0m ×2 + 46.94sINFOjoint_trajectory_controllerGoal reached, success! + 46.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791917814.14072084 seconds ×3 + 46.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3).[0m ×2 + 47.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791917814161163428, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.760ms + 47.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791917814.72991920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3).[0m ×2 + 48.74sINFOobjective_server_nodeFound path in 0 iterations (2.3576e-05 s). ×2 + 48.82sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 49.14sINFOamclInitializing particles from estimated pose and covariance + 49.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4).[0m ×2 + 49.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0494536, y=-0.0208177, yaw=-0.00412316 + 49.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.057ms + 49.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3).[0m ×2 + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	134 warnings · 195 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627981 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627981 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372138 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372138 ms (missed cycles : 5).[0m ×2 + 1.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.88sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791917884.37651134 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956864 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956864 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718844 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718844 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791917885.97187614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835940 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835940 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057919 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057919 ms (missed cycles : 4).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055858 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055858 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451587 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451587 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085780 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085780 ms (missed cycles : 4).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.564ms + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.461ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059599 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059599 ms (missed cycles : 2).[0m ×2 + 10.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.196ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309406 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309406 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.511ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909512 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909512 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.826ms + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.041ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.479ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302434 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302434 ms (missed cycles : 3).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.479ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.313ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244220 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244220 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.107ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.332ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805420 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805420 ms (missed cycles : 3).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.569ms + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.265ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773735 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773735 ms (missed cycles : 3).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.450ms + 16.49sWARNros2_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 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.419ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854732 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854732 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.890ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.552ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258019 ms (missed cycles : 5). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258019 ms (missed cycles : 5).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.166ms + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.107ms + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.888900 ms (missed cycles : 5). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.888900 ms (missed cycles : 5).[0m ×2 + 19.53sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.319ms + 20.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.058ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126936 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126936 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.931ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930356 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930356 ms (missed cycles : 3).[0m ×2 + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.899ms + 22.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409521 ms (missed cycles : 5). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409521 ms (missed cycles : 5).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.366ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.768ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984036 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984036 ms (missed cycles : 3).[0m ×2 + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.300ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.965ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845129 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845129 ms (missed cycles : 3).[0m ×2 + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.832ms + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.944ms + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193568 ms (missed cycles : 3). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193568 ms (missed cycles : 3).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.223ms + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.509ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049957 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049957 ms (missed cycles : 2).[0m ×2 + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.457ms + 27.29sWARNros2_control_nodeCamera render tick took 0.56 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 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.797ms + 27.32sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890466 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890466 ms (missed cycles : 2).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.280ms + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.084ms + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146911 ms (missed cycles : 3). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146911 ms (missed cycles : 3).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.905ms + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.163ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817261 ms (missed cycles : 2). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817261 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.212ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.144ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620962 ms (missed cycles : 4). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620962 ms (missed cycles : 4).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.242ms + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3).[0m ×2 + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4).[0m ×2 + 34.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791917917.20207024 seconds ×3 + 34.74sINFOstate_estimatorReceived a set_pose request (stamp: 1791917917222476051, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.87sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.87sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2).[0m ×2 + 35.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.27sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.249ms + 35.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791917917.80130315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.72sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3).[0m ×2 + 36.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.86sINFOamclInitializing particles from estimated pose and covariance + 36.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.86sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 37.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.828ms + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2).[0m ×2 + 38.11sWARNros2_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 + 38.14sWARNros2_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
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.6s	76 warnings · 258 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878150 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878150 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533921 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533921 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139434 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139434 ms (missed cycles : 5).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.083ms + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990764 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990764 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791918111.05639577 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791918111075631940, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.818ms + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791918111.66491985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705531 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705531 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113021 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113021 ms (missed cycles : 2).[0m ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.43sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.055087, y=-0.0166762, yaw=-0.0173777 + 5.59sWARNglobal_costmap.global_costmapSensor origin at (-5.24, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.334ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267958 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267958 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306819 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306819 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808381 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808381 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613314 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613314 ms (missed cycles : 2).[0m ×2 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.57sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201992 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201992 ms (missed cycles : 4).[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 10.74sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 11.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.64sINFOobjective_server_nodeFound path in 33 iterations (0.0390728 s). ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537601 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537601 ms (missed cycles : 3).[0m ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 12.18sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911288 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911288 ms (missed cycles : 3).[0m ×2 + 12.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.94sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 13.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.82sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105079 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105079 ms (missed cycles : 3).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674604 ms (missed cycles : 5). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674604 ms (missed cycles : 5).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382186 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382186 ms (missed cycles : 4).[0m ×2 + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.334ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681154 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681154 ms (missed cycles : 3).[0m ×2 + 17.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3).[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2).[0m ×2 + 19.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918127.61555123 seconds ×3 + 19.85sINFOstate_estimatorReceived a set_pose request (stamp: 1791918127634438270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 20.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3).[0m ×2 + 20.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918128.24348378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.45sINFOmove_groupClearing octomap...[0m ×2 + 20.45sINFOmove_groupOctomap cleared.[0m ×2 + 20.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 1819 particles 811 points - 6.325ms + 20.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 20.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 20.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 21.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918128.87393880 seconds ×3 + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.485ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2).[0m ×2 + 21.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.63sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918129.45805502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918130.27823091 seconds ×3 + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2).[0m ×2 + 22.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	112 errors · 30 warnings · 548 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3).[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2).[0m ×2 + 1.91sINFOjoint_trajectory_controllerGoal reached, success! + 1.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918127.61555123 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791918127634438270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918128.24348378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1819 particles 811 points - 6.325ms + 2.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.76sINFOamclInitializing particles from estimated pose and covariance + 2.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568194, y=-0.017182, yaw=-0.0184026 + 3.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918128.87393880 seconds ×3 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.485ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918129.45805502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918130.27823091 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2).[0m ×2 + 4.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611547 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611547 ms (missed cycles : 4).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268473 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268473 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012598 ms (missed cycles : 5). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012598 ms (missed cycles : 5).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547830 ms (missed cycles : 3). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547830 ms (missed cycles : 3).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342107 ms (missed cycles : 4). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342107 ms (missed cycles : 4).[0m ×2 + 10.61sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.62sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_video_auth_proxy-41process has died [pid 8168, 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 + 10.63sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.63sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge_auth_proxy-40process has died [pid 8166, 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 + 10.64sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.69sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.70sINFOvideo_server-39process has finished cleanly [pid 8165] ×2 + 10.70sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.71sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.71sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.73sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.74sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.75sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.76sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.77sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.78sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.80sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.81sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.82sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.83sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.85sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.87sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.87sINFOcontroller_managerShutdown request received.... + 10.87sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.87sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.87sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.87sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.87sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.87sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.88sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.88sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.88sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.88sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.88sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.88sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down the controller manager. + 10.89sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.90sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.91sERRORmove_group-25process has died [pid 8135, 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_38_256x7 --params-file /tmp/launch_params__xc5od_l --params-file /tmp/launch_params_h46wz6nj --params-file /tmp/launch_params_meox6s1d --params-file /tmp/launch_params_o46bjsua --params-file /tmp/launch_params__jvc1eq0']. ×2 + 10.92sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.93sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.94sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.95sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.96sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.97sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.98sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.99sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.00sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.00sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.00sINFOmap_serverDeactivating + 11.00sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.01sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.01sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.01sINFOcontroller_serverDeactivating + 11.01sINFOlocal_costmap.local_costmapDeactivating + 11.01sINFOvideo_server2026/10/13 19:02:16 INF shutting down gracefully ×2 + 11.01sINFOvideo_server2026/10/13 19:02:16 INF [WebRTC] closing ×2 + 11.01sINFOvideo_server2026/10/13 19:02:16 INF [RTSP] closing ×2 + 11.01sINFOvideo_server2026/10/13 19:02:16 INF waiting for running hooks ×2 + 11.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOmap_serverCleaning up + 11.01sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.01sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.01sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.01sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.02sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.02sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.02sERRORmove_groupStack trace (most recent call last) in thread 8793: ×2 + 11.02sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe32d4f4cc3, in __clone ×2 + 11.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe32d467b83, in ×2 + 11.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe32d6f8db3, in ×2 + 11.02sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fe32de62064, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.02sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe32da8c620, in rclcpp::Rate::sleep() ×2 + 11.02sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe32d9ced18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.02sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe32d990087, in ×2 + 11.02sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe32d6c7390, in __cxa_throw ×2 + 11.02sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe32d6b1a54, in std::terminate() ×2 + 11.02sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe32d6c70d9, in ×2 + 11.02sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe32d6b1ff4, in ×2 + 11.02sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe32d3f38fe, in abort ×2 + 11.02sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe32d41027d, in raise ×2 + 11.02sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe32d469c0c, in pthread_kill ×2 + 11.02sERRORmove_groupAborted (Signal sent by tkill() 8135 0) ×2 + 11.02sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.02sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.02sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.02sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.02sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.02sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.03sERRORamclThe bond connection to the lifecycle manager has been broken + 11.09sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.09sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.09sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.10sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.10sINFOcontroller_serverCleaning up + 11.10sINFOlocal_costmap.local_costmapCleaning up + 11.14sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.14sINFOsmoother_serverDeactivating + 11.14sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.15sINFOsmoother_serverCleaning up + 11.17sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.17sINFOplanner_serverDeactivating + 11.17sINFOglobal_costmap.global_costmapDeactivating + 11.18sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.18sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.18sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.18sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.18sINFOvelocity_smootherDeactivating + 11.18sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.38sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.38sINFOwaypoint_followerDeactivating + 11.38sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.50sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.50sINFObt_navigatorDeactivating + 11.50sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.67sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.67sINFObehavior_serverDeactivating + 11.67sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.70sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.70sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.71sINFOplanner_serverCleaning up + 11.73sINFOglobal_costmap.global_costmapCleaning up + 11.74sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.74sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.76sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.76sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.76sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.76sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.76sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.76sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.76sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.76sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.76sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.76sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.76sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.76sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.76sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.76sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8164] ×2 + 11.76sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.77sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.77sINFObehavior_serverCleaning up + 11.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.78sINFObt_navigatorCleaning up + 11.78sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.80sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.80sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.81sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.81sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.81sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.81sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.81sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.81sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.81sINFOvelocity_smootherCleaning up + 11.82sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.82sINFOwaypoint_followerCleaning up + 11.83sERRORjoint_state_visualization_relay-37process has died [pid 8161, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_k9e1lcvd']. ×2 + 11.83sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.84sINFOtf_visualization_relay-36process has finished cleanly [pid 8158] ×2 + 11.84sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.84sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.85sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.85sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.86sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.87sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8140] ×2 + 11.89sINFOui_teleop_bridge-34process has finished cleanly [pid 8146] ×2 + 11.90sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8139] ×2 + 11.91sINFOexecute_objective_bridge-33process has finished cleanly [pid 8144] ×2 + 11.91sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.91sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.91sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.91sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.92sINFOparameter_manager_node-26process has finished cleanly [pid 8137] ×2 + 11.94sINFObt_navigatorCompleted Cleaning up + 11.94sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.94sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.94sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.94sINFOwaypoint_manager_node-27process has finished cleanly [pid 8138] ×2 + 11.96sINFOrelay-11process has finished cleanly [pid 8078] ×2 + 11.97sINFOcomponent_container_mt-32process has finished cleanly [pid 8143] ×2 + 11.97sINFOrelay-10process has finished cleanly [pid 8077] ×2 + 11.98sINFOobjective_server_node[2026-10-13 19:02:17.661] [moveit_pro_license] [critical] ×2 + 11.98sINFOobjective_server_node************************************************* ×4 + 11.98sINFOobjective_server_node* MoveIt Pro License ×2 + 11.98sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.98sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7973] ×2 + 11.99sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8079] ×2 + 11.99sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7972] ×2 + 12.00sINFOstatic_transform_publisher-7process has finished cleanly [pid 7971] ×2 + 12.01sINFOstatic_transform_publisher-6process has finished cleanly [pid 7970] ×2 + 12.01sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.01sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.02sINFOlidar_flattener.pymain() ×2 + 12.02sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.02sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.02sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.02sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.02sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.02sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.02sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.02sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.02sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.02sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.02sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.02sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.02sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.02sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.02sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.04sINFOstatic_transform_publisher-3process has finished cleanly [pid 7967] ×2 + 12.05sINFOobjective_server_node_main-30process has finished cleanly [pid 8141] ×2 + 12.06sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.06sERRORlidar_flattener.py-5process has died [pid 7969, 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__i1cyrd6']. ×2 + 12.24sERRORcomponent_container_isolated-1process has died [pid 7965, 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_jdarw997 --params-file /tmp/launch_params_d3g66ipv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.99sINFOcomponent_container_mt-31process has finished cleanly [pid 8142] ×2 + 13.02sINFOodom_world_drift-4process has finished cleanly [pid 7968] ×2 + 13.31sERRORcomponent_container_isolated-2process has died [pid 7966, 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_jdarw997 --params-file /tmp/launch_params_fyiggayf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.62sINFOros2_control_node-13process has finished cleanly [pid 8080] ×2 + 13.90sINFOweb_bridge-35process has finished cleanly [pid 8147] ×2 + 13.90sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 75 warnings · 169 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032535 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032535 ms (missed cycles : 4).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.71sWARNros2_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 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722291 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722291 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.848ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367657 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367657 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.121ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791917970.46151018 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOstate_estimatorReceived a set_pose request (stamp: 1791917970481043486, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734613 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734613 ms (missed cycles : 3).[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.024ms + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.69sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791917971.07515669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.219ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944490 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944490 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787600 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787600 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623614 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623614 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312960 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312960 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138156 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138156 ms (missed cycles : 2).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.283ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502383 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502383 ms (missed cycles : 3).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.583ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969150 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969150 ms (missed cycles : 5).[0m ×2 + 10.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 10.74sWARNros2_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 + 11.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106213 ms (missed cycles : 5). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106213 ms (missed cycles : 5).[0m ×2 + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.142ms + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.652ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248612 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248612 ms (missed cycles : 2).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.475ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.223ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.213ms + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604014 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604014 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sINFOjoint_trajectory_controllerGot request to cancel goal + 14.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.04sERRORobjective_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: 1791917981.41812229 seconds ×3 + 14.07sINFOstate_estimatorReceived a set_pose request (stamp: 1791917981439273439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 14.19sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 14.19sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 14.29sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.29sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791917982.01977706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.213ms + 14.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171797, yaw=-0.0183991 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885201 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885201 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.089ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782008 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782008 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916191 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916191 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.5s	58 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627981 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627981 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372138 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372138 ms (missed cycles : 5).[0m ×2 + 9.30sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791917884.37651134 seconds ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956864 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956864 ms (missed cycles : 2).[0m ×2 + 10.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718844 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718844 ms (missed cycles : 4).[0m ×2 + 10.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791917885.97187614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835940 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835940 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057919 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057919 ms (missed cycles : 4).[0m ×2 + 13.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055858 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055858 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	56 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682557 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682557 ms (missed cycles : 3).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.871ms + 0.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.610ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868501 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868501 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.773ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348171 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348171 ms (missed cycles : 5).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.206ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791918047.03261018 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888731 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888731 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOstate_estimatorReceived a set_pose request (stamp: 1791918047054144378, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.670ms + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791918047.62174320 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 + 4.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813510 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 5.24sINFOamclInitializing particles from estimated pose and covariance + 5.24sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 5.24sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549662, y=-0.0158044, yaw=-0.0122158 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.230ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 6.54sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 9.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 seconds ×3 + 10.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.21sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 10.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 10.67sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 13.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	44 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791917814.14072084 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3). + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOstate_estimatorReceived a set_pose request (stamp: 1791917814161163428, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.760ms + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791917814.72991920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.3576e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4).[0m ×2 + 5.29sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0494536, y=-0.0208177, yaw=-0.00412316 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.057ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.959ms + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144593 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144593 ms (missed cycles : 2).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.609ms + 7.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.226ms + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.151ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936835 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936835 ms (missed cycles : 3).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.281ms + 9.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.303ms + 9.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791917820.36005616 seconds ×3 + 9.37sINFOstate_estimatorReceived a set_pose request (stamp: 1791917820376073387, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575128 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575128 ms (missed cycles : 3).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.543ms + 9.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.94sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 9.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791917820.95519876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.04sINFOamclParticle filter update iteration stats: 1491 particles 811 points - 6.281ms + 10.04sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 10.04sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 10.04sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501617 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501617 ms (missed cycles : 3).[0m ×2 + 10.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 10.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.910ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325884 ms (missed cycles : 3). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325884 ms (missed cycles : 3).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687678 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687678 ms (missed cycles : 2).[0m ×2 + 12.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	21 warnings · 128 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.334ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681154 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681154 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918127.61555123 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1791918127634438270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918128.24348378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 1819 particles 811 points - 6.325ms + 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=-0.0568194, y=-0.017182, yaw=-0.0184026 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918128.87393880 seconds ×3 + 4.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.485ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918129.45805502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918130.27823091 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2).[0m ×2 + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611547 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611547 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	23 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741832 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741832 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 3.004978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791917814.14072084 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3). + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOstate_estimatorReceived a set_pose request (stamp: 1791917814161163428, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.760ms + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791917814.72991920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.3576e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4).[0m ×2 + 5.29sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0494536, y=-0.0208177, yaw=-0.00412316 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.057ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004978 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552986 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825572 ms (missed cycles : 5).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791917814.14072084 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3). + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741079 ms (missed cycles : 3).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOstate_estimatorReceived a set_pose request (stamp: 1791917814161163428, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.760ms + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791917814.72991920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003687 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.3576e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150687 ms (missed cycles : 4).[0m ×2 + 5.29sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0494536, y=-0.0208177, yaw=-0.00412316 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.057ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms
− skipped	Close Gripper	close_gripper.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	26 warnings · 86 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003921 ms (missed cycles : 3).[0m ×2 + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.959ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144593 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144593 ms (missed cycles : 2).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.609ms + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.226ms + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.151ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936835 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936835 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.281ms + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.303ms + 3.32sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791917820.36005616 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOstate_estimatorReceived a set_pose request (stamp: 1791917820376073387, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575128 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575128 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.543ms + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.95sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791917820.95519876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOamclParticle filter update iteration stats: 1491 particles 811 points - 6.281ms + 4.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.05sINFOamclInitializing particles from estimated pose and covariance + 4.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501617 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501617 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.910ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325884 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325884 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687678 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687678 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 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	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	37 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065580 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905412 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131761 ms (missed cycles : 3).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791917877.90534854 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791917877937880718, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_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 + 3.19sWARNlocal_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 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519717 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791917878.51637149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.186ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.921ms + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114940 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275278 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529089 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	32 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.242ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791917917.20207024 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOstate_estimatorReceived a set_pose request (stamp: 1791917917222476051, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.249ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791917917.80130315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3).[0m ×2 + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.53sINFOamclInitializing particles from estimated pose and covariance + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.828ms + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2).[0m ×2 + 6.79sWARNros2_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 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.81sWARNros2_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 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	32 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.242ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791917917.20207024 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOstate_estimatorReceived a set_pose request (stamp: 1791917917222476051, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.249ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791917917.80130315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3).[0m ×2 + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.53sINFOamclInitializing particles from estimated pose and covariance + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.828ms + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2).[0m ×2 + 6.79sWARNros2_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 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.81sWARNros2_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 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	32 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466801 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.242ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575298 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841656 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791917917.20207024 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOstate_estimatorReceived a set_pose request (stamp: 1791917917222476051, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894025 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.249ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791917917.80130315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201013 ms (missed cycles : 3).[0m ×2 + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.53sINFOamclInitializing particles from estimated pose and covariance + 5.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.828ms + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590902 ms (missed cycles : 2).[0m ×2 + 6.79sWARNros2_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 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.81sWARNros2_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 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	28 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690134 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032569 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145570 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742770 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791918053.54188585 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 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNobjective_server_nodeGenerateCoveragePath Warning: Using deprecated behavior 'GenerateCoveragePath': GenerateCoveragePath is deprecated and will be removed in a future version. Use GenerateSurfaceCoveragePath instead. The port conversion is at https://docs.picknik.ai/tutorials/motion_planning/#rastering-a-selected-region ×3 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791918054.15625763 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 ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091459 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563103 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619637 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 128 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.334ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681154 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681154 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249115 ms (missed cycles : 3).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793601 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791918127.61555123 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1791918127634438270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536294 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791918128.24348378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 1819 particles 811 points - 6.325ms + 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=-0.0568194, y=-0.017182, yaw=-0.0184026 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791918128.87393880 seconds ×3 + 4.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.485ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119721 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791918129.45805502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791918130.27823091 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759883 ms (missed cycles : 2).[0m ×2 + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	23 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.17sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.26sINFOmove_groupClearing octomap...[0m ×4 + 2.27sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.27sINFOmove_groupOctomap cleared.[0m ×4 + 2.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	26 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.34sINFOjoint_trajectory_controllerReceived new action goal + 7.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.34sINFOjoint_trajectory_controllerAccepted new action goal + 7.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271067 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.21sWARNros2_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 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.26sINFOobjective_server_nodecaller: ×10 + 3.26sINFOobjective_server_nodetype: 0 ×10 + 3.26sINFOobjective_server_nodename: "" ×10 + 3.26sINFOobjective_server_nodeinstance_id: "" ×10 + 3.26sINFOobjective_server_node ×10 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.31sINFOmove_groupClearing octomap...[0m ×4 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×4 + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	23 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.17sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.26sINFOmove_groupClearing octomap...[0m ×4 + 2.27sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.27sINFOmove_groupOctomap cleared.[0m ×4 + 2.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	move_to_cartesian_pose.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	23 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741832 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741832 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	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	20 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940658 ms (missed cycles : 3).[0m ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735848 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791917768.39631915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791917768.41005039 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791917769.00615931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791917769.02629638 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791917769.60807824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791917769.75886965 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791917770.37357068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075801 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791917770.45371079 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791917771.04824495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377329 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877886 ms (missed cycles : 2).[0m ×2