MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.1s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	22.7s	6 errors · 321 warnings · 1791 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-25-06-17-03-380511-f05217b9427d-7983 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.25sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.26sINFOstatic_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' + 4.26sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.27sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.33sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.33sINFOmap_serverCreating + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.37sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.39sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.44sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.45sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.45sINFOcontroller_serverCreating controller server + 4.47sINFOlifecycle_manager_localizationCreating + 4.49sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.49sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.49sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.49sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.50sINFOmap_serverConfiguring + 4.50sINFOlocal_costmap.local_costmapCreating Costmap + 4.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.55sINFOros2_control_node-13process started with pid [8148] ×2 + 4.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.56sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.57sINFOmove_group-25process started with pid [8207] ×2 + 4.57sINFOparameter_manager_node-26process started with pid [8208] ×2 + 4.57sINFOwaypoint_manager_node-27process started with pid [8209] ×2 + 4.57sINFOmove_joint_resampler_node-28process started with pid [8210] ×2 + 4.57sINFOmove_end_effector_resampler_node-29process started with pid [8211] ×2 + 4.57sINFOobjective_server_node_main-30process started with pid [8212] ×2 + 4.57sINFOcomponent_container_mt-31process started with pid [8215] ×2 + 4.57sINFOcomponent_container_mt-32process started with pid [8216] ×2 + 4.57sINFOexecute_objective_bridge-33process started with pid [8217] ×2 + 4.57sINFOui_teleop_bridge-34process started with pid [8220] ×2 + 4.57sINFOweb_bridge-35process started with pid [8223] ×2 + 4.57sINFOtf_visualization_relay-36process started with pid [8226] ×2 + 4.57sINFOjoint_state_visualization_relay-37process started with pid [8229] ×2 + 4.57sINFOtf2_web_republisher_node-38process started with pid [8230] ×2 + 4.57sINFOvideo_server-39process started with pid [8231] ×2 + 4.57sINFOweb_bridge_auth_proxy-40process started with pid [8232] ×2 + 4.57sINFOweb_video_auth_proxy-41process started with pid [8235] ×2 + 4.58sINFOcomponent_container_isolated-1process started with pid [8033] ×2 + 4.58sINFOcomponent_container_isolated-2process started with pid [8034] ×2 + 4.58sINFOstatic_transform_publisher-3process started with pid [8035] ×2 + 4.58sINFOodom_world_drift-4process started with pid [8036] ×2 + 4.58sINFOlidar_flattener.py-5process started with pid [8037] ×2 + 4.58sINFOstatic_transform_publisher-6process started with pid [8038] ×2 + 4.58sINFOstatic_transform_publisher-7process started with pid [8039] ×2 + 4.58sINFOscan_to_scan_filter_chain-8process started with pid [8040] ×2 + 4.58sINFOscan_to_scan_filter_chain-9process started with pid [8041] ×2 + 4.59sINFOrelay-10process started with pid [8145] ×2 + 4.59sINFOrelay-11process started with pid [8146] ×2 + 4.59sINFOfixed_lag_smoother_node-12process started with pid [8147] ×2 + 4.59sINFOros2-14process started with pid [8149] ×2 + 4.59sINFOros2-15process started with pid [8150] ×2 + 4.59sINFOros2-16process started with pid [8151] ×2 + 4.59sINFOros2-17process started with pid [8154] ×2 + 4.59sINFOros2-18process started with pid [8155] ×2 + 4.59sINFOros2-19process started with pid [8156] ×2 + 4.59sINFOros2-20process started with pid [8159] ×2 + 4.59sINFOsmoother_serverCreating smoother server + 4.59sINFOros2-21process started with pid [8160] ×2 + 4.59sINFOros2-22process started with pid [8162] ×2 + 4.59sINFOros2-23process started with pid [8182] ×2 + 4.59sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.59sINFOros2-24process started with pid [8183] ×2 + 4.59sINFOamclConfiguring + 4.60sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.60sINFOmap_serverActivating + 4.61sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.61sINFOstate_estimatorReceived a set_pose request (stamp: 1792909029709849529, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.63sINFOcontroller_managerupdate rate is 600 Hz + 4.63sINFOcontroller_managerOverruns handling is : enabled + 4.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.405328 ms (missed cycles : 7). + 4.67sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.67sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.67sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.67sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.67sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.67sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.67sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.67sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.67sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.67sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.405328 ms (missed cycles : 7).[0m ×2 + 4.70sINFOplanner_serverCreating + 4.70sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.70sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.72sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.73sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.73sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.73sINFOamclActivating + 4.73sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.73sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.74sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.74sINFOglobal_costmap.global_costmapCreating Costmap + 4.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.76sINFOamclSubscribed to map_topic: /map + 4.76sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.77sINFOamclCreated reinitialize_global_localization service + 4.77sINFOamclCreated request_nomotion_update service + 4.78sINFOamclA new map was received + 4.78sINFOamclInitializing particle filter instance + 4.80sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.85sINFOvideo_server2026/10/25 06:17:09 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.85sINFOvideo_server2026/10/25 06:17:09 INF configuration loaded from /tmp/moveit-webrtc-t4r94h66/mediamtx.yml ×2 + 4.86sINFOrobot_state_publisherRobot initialized + 4.86sINFOcontroller_managerReceived robot description from topic. + 4.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.87sINFOvideo_server2026/10/25 06:17:09 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.87sINFOvideo_server2026/10/25 06:17:09 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.87sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.92sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.94sINFObt_navigatorCreating + 4.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.97sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.98sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.98sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.98sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.02sINFOwaypoint_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. + 5.02sINFOwaypoint_followerCreating + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.07sINFOvelocity_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. + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.12sINFOlifecycle_manager_navigationCreating + 5.14sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.16sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.16sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.16sINFOcontroller_serverConfiguring controller interface + 5.16sINFOcontroller_servergetting progress checker plugins.. + 5.16sINFOcontroller_servergetting goal checker plugins.. + 5.16sINFOcontroller_serverController frequency set to 20.0000Hz + 5.16sINFOlocal_costmap.local_costmapConfiguring + 5.17sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.20sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.25sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.25sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.26sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.27sWARNlaser_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. + 5.27sWARNscan_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 + 5.27sWARNlaser_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. + 5.30sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.32sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.32sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.32sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.34sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.36sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.38sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.38sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.38sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.38sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.39sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.39sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.39sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.39sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.39sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.39sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.39sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.41sINFOcontroller_serverOptimizer reset ×2 + 5.43sINFOcontroller_serverController Server has FollowPath controllers available. + 5.46sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.46sINFOsmoother_serverConfiguring smoother server + 5.48sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.49sINFOamclParticle filter initialization completed + 5.49sINFOamclInitializing particles from estimated pose and covariance + 5.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.49sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.49sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.50sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.50sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.50sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.51sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.51sINFOplanner_serverConfiguring + 5.51sINFOglobal_costmap.global_costmapConfiguring + 5.52sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.53sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.53sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.53sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.55sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.60sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.60sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.60sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.67sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.67sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.67sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.69sINFOplanner_serverPlanner Server has GridBased planners available. + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928179 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928179 ms (missed cycles : 2).[0m ×2 + 5.76sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.76sINFObehavior_serverConfiguring + 5.79sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.80sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.81sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.82sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.83sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.84sINFObehavior_serverConfiguring spin + 5.86sINFObehavior_serverConfiguring backup + 5.88sINFObehavior_serverConfiguring drive_on_heading + 5.89sINFObehavior_serverConfiguring assisted_teleop + 5.93sINFObehavior_serverConfiguring wait + 5.94sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.369528 seconds + 5.94sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.94sINFObt_navigatorConfiguring + 5.94sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.95sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.95sINFOmove_groupLoaded robot model in 0.369528 seconds[0m ×2 + 5.95sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.96sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.96sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.97sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.07sINFOweb_video_auth_proxy2026-10-25 06:17:11,171 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.08sINFOweb_video_auth_proxy2026-10-25 06:17:11,174 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.09sINFOweb_bridge_auth_proxy2026-10-25 06:17:11,184 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.15sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.15sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.21sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.25sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.25sINFOwaypoint_followerConfiguring + 6.28sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.29sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.29sINFOvelocity_smootherConfiguring velocity smoother + 6.30sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.30sINFOcontroller_serverActivating + 6.30sINFOlocal_costmap.local_costmapActivating + 6.30sINFOlocal_costmap.local_costmapChecking transform + 6.30sINFOlocal_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 ×9 + 6.35sINFOwaypoint_manager_nodeLoaded robot model in 0.4334 seconds[0m ×2 + 6.35sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.36sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.45sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 6.45sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.69sINFOmove_group[2026-10-25 06:17:11.782] [moveit_pro_license] [info] ×2 + 6.69sINFOmove_group************************************************* ×4 + 6.69sINFOmove_group* MoveIt Pro License ×2 + 6.69sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222767 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222767 ms (missed cycles : 2).[0m ×2 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.16sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.16sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.16sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.16sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.16sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.17sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.17sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.17sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.17sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.17sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.17sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.18sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.18sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.18sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.18sINFOwaypoint_manager_node[2026-10-25 06:17:12.279] [moveit_pro_license] [info] ×2 + 7.18sINFOwaypoint_manager_node************************************************* ×4 + 7.18sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.18sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.34sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.34sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.34sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 7.35sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.35sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.35sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.35sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.35sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.35sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.35sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.35sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.35sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.35sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.35sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.35sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.35sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.35sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.35sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.35sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.35sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.35sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.35sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 7.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 7.41sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.41sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.46sINFOforce_torque_sensor_broadcasterconfigure successful + 7.46sINFOros2_control_nodeconfigure successful[0m ×6 + 7.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.58sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.58sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.59sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.59sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.62sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 7.62sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.62sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.76sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.76sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.76sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.76sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 7.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 7.79sINFOros2-14process has finished cleanly [pid 8149] ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753414 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753414 ms (missed cycles : 2).[0m ×2 + 7.84sINFOobjective_server_node[2026-10-25 06:17:12.934] [moveit_pro_license] [info] ×2 + 7.84sINFOobjective_server_node************************************************* ×4 + 7.84sINFOobjective_server_node* MoveIt Pro License ×2 + 7.84sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.84sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.84sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.85sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.85sINFOplatform_velocity_controller_nav2configure successful + 7.94sINFOobjective_server_nodeLoaded robot model in 0.0456177 seconds[0m ×2 + 7.94sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.94sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.96sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.00sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.00sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.00sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.00sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.01sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.01sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.01sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.01sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.01sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.01sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.01sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.01sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.01sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.01sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.02sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.02sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.02sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.02sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.03sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.24sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.27sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.27sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.28sINFOros2-19process has finished cleanly [pid 8156] ×2 + 8.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.29sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.37sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.37sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 8.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 8.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.44sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.44sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.47sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.48sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.50sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.86sINFOcomponent_container_mtLoaded robot model in 0.375705 seconds[0m ×2 + 8.86sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.86sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.93sINFOros2_control_node[2026-10-25 06:17:14.027] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.93sINFOros2_control_node[2026-10-25 06:17:14.031] [info] Controller state will be published at 10 Hz. ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832187 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832187 ms (missed cycles : 3).[0m ×2 + 8.94sINFOros2_control_node[2026-10-25 06:17:14.033] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.27sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.27sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 9.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 9.28sINFOmove_groupMoveGroup debug mode is ON + 9.28sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.29sWARNros2_control_nodeCamera render tick took 0.79 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.29sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.30sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.30sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.30sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.31sINFOros2-21process has finished cleanly [pid 8160] ×2 + 9.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.35sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.35sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.37sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.37sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.44sINFOcomponent_container_mt[2026-10-25 06:17:14.536] [moveit_pro_license] [info] ×2 + 9.44sINFOcomponent_container_mt************************************************* ×4 + 9.44sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.44sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.46sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.46sINFOmove_group ×8 + 9.46sINFOmove_group****************************************************** ×4 + 9.46sINFOmove_group* MoveGroup using: ×2 + 9.46sINFOmove_group* - apply_planning_scene_service ×2 + 9.46sINFOmove_group* - clear_octomap_service ×2 + 9.46sINFOmove_group* - get_group_urdf ×2 + 9.46sINFOmove_group* - load_geometry_from_file ×2 + 9.46sINFOmove_group* - get_planning_scene_service ×2 + 9.46sINFOmove_group* - kinematics_service ×2 + 9.46sINFOmove_group* - save_geometry_to_file ×2 + 9.46sINFOmove_group* - GetPlanningGroups ×2 + 9.46sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.46sINFOmove_group[0m ×2 + 9.46sINFOmove_group[92mYou can start planning now![0m ×2 + 9.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 9.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 9.69sINFOros2-18process has finished cleanly [pid 8155] ×2 + 9.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.72sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.72sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.72sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.73sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.73sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.73sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.73sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.81sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.81sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343608 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343608 ms (missed cycles : 2).[0m ×2 + 10.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.05sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.05sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.05sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 10.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 10.08sINFOros2-16process has finished cleanly [pid 8151] ×2 + 10.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.16sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.17sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.17sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.17sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.29sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792909033.594 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 10.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 10.48sINFOros2-20process has finished cleanly [pid 8159] ×2 + 10.52sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.52sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.54sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.54sINFOplatform_velocity_controllerconfigure successful + 10.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.55sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.55sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.80sINFOlocal_costmap.local_costmapstart + 10.86sINFOros2-17process has finished cleanly [pid 8154] ×2 + 10.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.90sWARNcontroller_serverParameter controller_server.verbose not found + 10.90sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.94sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 10.94sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 10.99sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.99sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.00sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.00sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.01sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.01sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.01sINFOsmoother_serverActivating + 11.01sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928173 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928173 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1619 particles 811 points - 34.706ms + 11.11sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.11sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.12sINFOplanner_serverActivating + 11.12sINFOglobal_costmap.global_costmapActivating + 11.12sINFOglobal_costmap.global_costmapChecking transform + 11.12sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1792909036.203401, but only time 1792909036.802728 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.39sINFOros2_control_node[2026-10-25 06:17:16.486] [info] Controller state will be published at 20 Hz. ×2 + 11.39sINFOros2_control_node[2026-10-25 06:17:16.487] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.62sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1792909036.704405 but the earliest data is at time 1792909036.802728, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.72sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.72sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.72sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.72sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.72sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 11.72sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 11.74sINFOros2-24process has finished cleanly [pid 8183] ×2 + 11.78sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.78sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.80sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.12sINFOglobal_costmap.global_costmapstart + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943443 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943443 ms (missed cycles : 2).[0m ×2 + 12.14sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.14sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.14sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 12.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 12.16sINFOros2-15process has finished cleanly [pid 8150] ×2 + 12.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.63sINFOros2_control_node[2026-10-25 06:17:17.727] [info] Controller state will be published at 20 Hz. ×2 + 12.63sINFOros2_control_node[2026-10-25 06:17:17.728] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.76sWARNobjective_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 + 12.94sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.94sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.94sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.94sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.95sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m + 12.95sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_89uj37ri --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_jeot9mi_ --params-file /tmp/launch_params_rn30yd5m [0m ×2 + 13.00sINFOros2-23process has finished cleanly [pid 8182] ×2 + 13.02sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.02sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.02sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.02sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242844 ms (missed cycles : 4). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242844 ms (missed cycles : 4).[0m ×2 + 13.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.28sINFObehavior_serverActivating + 13.28sINFObehavior_serverActivating spin + 13.28sINFObehavior_serverActivating backup + 13.28sINFObehavior_serverActivating drive_on_heading + 13.28sINFObehavior_serverActivating assisted_teleop + 13.28sINFObehavior_serverActivating wait + 13.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.39sINFObt_navigatorActivating + 13.47sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.47sINFOros2_control_node[2026-10-25 06:17:18.569] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.48sINFOros2_control_node[2026-10-25 06:17:18.571] [info] Controller state will be published at 10 Hz. ×2 + 13.48sINFOros2_control_node[2026-10-25 06:17:18.573] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.57sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.57sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.57sINFOwaypoint_followerActivating + 13.57sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.68sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.68sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.68sINFOvelocity_smootherActivating + 13.68sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.78sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.78sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.78sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.81sINFOros2-22process has finished cleanly [pid 8162] ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464871 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464871 ms (missed cycles : 3).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670789 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670789 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637388 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637388 ms (missed cycles : 2).[0m ×2 + 16.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364893 ms (missed cycles : 4). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364893 ms (missed cycles : 4).[0m ×2 + 17.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857281 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857281 ms (missed cycles : 3).[0m ×2 + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3).[0m ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 22.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.12sINFOobjective_server_nodeobjective_name: "" ×12 + 22.12sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.12sINFOobjective_server_node ×56 + 22.12sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.12sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.12sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.12sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.12sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.12sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.12sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.12sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.12sINFOobjective_server_node</Control> ×24 + 22.12sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.12sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.12sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.12sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.12sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.12sINFOobjective_server_nodecaller: ×14 + 22.12sINFOobjective_server_nodetype: 0 ×14 + 22.12sINFOobjective_server_nodename: "" ×14 + 22.12sINFOobjective_server_nodeinstance_id: "" ×14 + 22.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.25sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 22.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 22.31sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 22.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 23.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 23.13sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 23.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.81sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 23.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 24.02sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 24.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 24.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 24.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 24.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 24.70sINFOmove_groupClearing octomap...[0m ×2 + 24.70sINFOmove_groupOctomap cleared.[0m ×2 + 24.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 24.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 24.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3
✓ passed	—	placed	0.9s	6 errors · 21 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2).[0m ×2 + 1.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.64sINFOobjective_server_nodeobjective_name: "" ×12 + 2.64sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.64sINFOobjective_server_node ×60 + 2.64sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.64sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.64sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.64sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.64sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.64sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.64sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.64sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.64sINFOobjective_server_node</Control> ×24 + 2.64sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.64sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.64sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.64sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.64sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.64sINFOobjective_server_nodecaller: ×18 + 2.64sINFOobjective_server_nodetype: 0 ×18 + 2.64sINFOobjective_server_nodename: "" ×18 + 2.64sINFOobjective_server_nodeinstance_id: "" ×18 + 2.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 2.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 2.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.56sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 3.65sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.38sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 4.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.22sINFOmove_groupClearing octomap...[0m ×2 + 5.22sINFOmove_groupOctomap cleared.[0m ×2 + 5.23sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.23sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3
✓ passed	—	release_fails	0.8s	6 errors · 24 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2).[0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.63sINFOobjective_server_nodeobjective_name: "" ×12 + 1.63sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.63sINFOobjective_server_node ×64 + 1.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.63sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.63sINFOobjective_server_node</Control> ×24 + 1.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.63sINFOobjective_server_nodecaller: ×22 + 1.63sINFOobjective_server_nodetype: 0 ×22 + 1.63sINFOobjective_server_nodename: "" ×22 + 1.63sINFOobjective_server_nodeinstance_id: "" ×22 + 1.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.82sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 2.63sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.20sINFOmove_groupClearing octomap...[0m ×2 + 4.20sINFOmove_groupOctomap cleared.[0m ×2 + 4.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 6.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2
✓ passed	—	hover_fails	0.8s	6 errors · 24 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2).[0m ×2 + 1.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.64sINFOobjective_server_nodeobjective_name: "" ×12 + 2.64sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.64sINFOobjective_server_node ×62 + 2.64sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.64sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.64sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.64sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.64sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.64sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.64sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.64sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.64sINFOobjective_server_node</Control> ×24 + 2.64sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.64sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.64sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.64sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.64sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.64sINFOobjective_server_nodecaller: ×20 + 2.64sINFOobjective_server_nodetype: 0 ×20 + 2.64sINFOobjective_server_nodename: "" ×20 + 2.64sINFOobjective_server_nodeinstance_id: "" ×20 + 2.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 2.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 2.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.56sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 3.65sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.38sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 4.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 5.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.22sINFOmove_groupClearing octomap...[0m ×2 + 5.22sINFOmove_groupOctomap cleared.[0m ×2 + 5.23sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.23sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 7.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 7.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 7.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 588 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857281 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857281 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257622 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140673 ms (missed cycles : 2).[0m ×2 + 2.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.84sINFOobjective_server_nodeobjective_name: "" ×12 + 3.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.84sINFOobjective_server_node ×58 + 3.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.84sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.84sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.84sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.84sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.84sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.84sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.84sINFOobjective_server_node</Control> ×24 + 3.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.84sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.84sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.84sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.84sINFOobjective_server_nodecaller: ×16 + 3.84sINFOobjective_server_nodetype: 0 ×16 + 3.84sINFOobjective_server_nodename: "" ×16 + 3.84sINFOobjective_server_nodeinstance_id: "" ×16 + 3.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 4.03sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 4.09sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 4.85sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 5.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.42sINFOmove_groupClearing octomap...[0m ×2 + 6.42sINFOmove_groupOctomap cleared.[0m ×2 + 6.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 6.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.03sINFOvacuum_gripperReceived & accepted new action goal + 7.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.6s	3 errors · 246 warnings · 289 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496493 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496493 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.148ms ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177660 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177660 ms (missed cycles : 5).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810418 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810418 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.629ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.90sERRORobjective_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: 1792909265.63711119 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOstate_estimatorReceived a set_pose request (stamp: 1792909265651385669, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670541 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670541 ms (missed cycles : 2).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 4756 particles 811 points - 12.730ms + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.43sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569259, y=-0.0171792, yaw=-0.0183993 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792909266.24037814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.639ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083315 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083315 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455077 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455077 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174585 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174585 ms (missed cycles : 4).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171650 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171650 ms (missed cycles : 2).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.231ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675376 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675376 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.280ms + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.932ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051122 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051122 ms (missed cycles : 2).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 10.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.989ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359862 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359862 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.726ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839236 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839236 ms (missed cycles : 3).[0m ×2 + 12.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557141 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557141 ms (missed cycles : 3).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.245ms + 14.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.539ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709758 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709758 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.099ms + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787260 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787260 ms (missed cycles : 3).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.936ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.707ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944043 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944043 ms (missed cycles : 3).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.070ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409097 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409097 ms (missed cycles : 2).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.609ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890079 ms (missed cycles : 2). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890079 ms (missed cycles : 2).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.434ms + 19.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.738ms + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969735 ms (missed cycles : 3). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969735 ms (missed cycles : 3).[0m ×2 + 19.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324678 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324678 ms (missed cycles : 2).[0m ×2 + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.722ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072486 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072486 ms (missed cycles : 2).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.122ms + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.148ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730506 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730506 ms (missed cycles : 3).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.487ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461671 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461671 ms (missed cycles : 2).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.499ms + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.311ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768458 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768458 ms (missed cycles : 3).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.967ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317174 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317174 ms (missed cycles : 2).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.361ms + 26.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.593ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207373 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207373 ms (missed cycles : 2).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995371 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995371 ms (missed cycles : 2).[0m ×2 + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.917ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.216ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503134 ms (missed cycles : 3). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503134 ms (missed cycles : 3).[0m ×2 + 29.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.008ms + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894302 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894302 ms (missed cycles : 2).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.284ms + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.342ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250389 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250389 ms (missed cycles : 2).[0m ×2 + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.379ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.320ms + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819560 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819560 ms (missed cycles : 2).[0m ×2 + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.161ms + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109240 ms (missed cycles : 3). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109240 ms (missed cycles : 3).[0m ×2 + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 34.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359233 ms (missed cycles : 3). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359233 ms (missed cycles : 3).[0m ×2 + 34.57sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.57sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.139ms + 35.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603374 ms (missed cycles : 2). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603374 ms (missed cycles : 2).[0m ×2 + 36.01sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566532 ms (missed cycles : 3). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566532 ms (missed cycles : 3).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082062 ms (missed cycles : 4). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082062 ms (missed cycles : 4).[0m ×2 + 38.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.427ms + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725820 ms (missed cycles : 3).[0m ×2 + 38.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.123ms + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725867 ms (missed cycles : 3). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725867 ms (missed cycles : 3).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.708ms + 40.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.913ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471972 ms (missed cycles : 2). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471972 ms (missed cycles : 2).[0m ×2 + 40.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.649ms + 41.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149626 ms (missed cycles : 4). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149626 ms (missed cycles : 4).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856714 ms (missed cycles : 5). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856714 ms (missed cycles : 5).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767246 ms (missed cycles : 4). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767246 ms (missed cycles : 4).[0m ×2 + 44.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.686ms + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978210 ms (missed cycles : 2). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978210 ms (missed cycles : 2).[0m ×2 + 45.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.214ms + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572054 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572054 ms (missed cycles : 3).[0m ×2 + 45.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.965ms + 46.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.683ms + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600224 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600224 ms (missed cycles : 2).[0m ×2 + 47.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.371ms + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277091 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277091 ms (missed cycles : 2).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.415ms + 48.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.473ms + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476559 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476559 ms (missed cycles : 3).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788760 ms (missed cycles : 2). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788760 ms (missed cycles : 2).[0m ×2 + 50.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.443ms + 50.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.358ms + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192567 ms (missed cycles : 5). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192567 ms (missed cycles : 5).[0m ×2 + 51.99sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640248 ms (missed cycles : 3). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640248 ms (missed cycles : 3).[0m ×2 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.237ms + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118165 ms (missed cycles : 3). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118165 ms (missed cycles : 3).[0m ×2 + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636031 ms (missed cycles : 3). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636031 ms (missed cycles : 3).[0m ×2 + 55.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.503ms + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960943 ms (missed cycles : 2). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960943 ms (missed cycles : 2).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.976ms + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.879ms + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723255 ms (missed cycles : 3). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723255 ms (missed cycles : 3).[0m ×2 + 57.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.786ms + 58.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866743 ms (missed cycles : 3). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866743 ms (missed cycles : 3).[0m ×2 + 59.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.185ms + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071891 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071891 ms (missed cycles : 2).[0m ×2 + 60.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.140ms + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735874 ms (missed cycles : 3). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735874 ms (missed cycles : 3).[0m ×2 + 60.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.081ms + 61.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.289ms + 61.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762479 ms (missed cycles : 6). + 61.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762479 ms (missed cycles : 6).[0m ×2 + 62.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.453ms + 62.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425251 ms (missed cycles : 4). + 62.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425251 ms (missed cycles : 4).[0m ×2 + 62.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.220ms + 63.56sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 63.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154857 ms (missed cycles : 2). + 63.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154857 ms (missed cycles : 2).[0m ×2 + 64.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334816 ms (missed cycles : 6). + 64.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334816 ms (missed cycles : 6).[0m ×2 + 65.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 65.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388247 ms (missed cycles : 3). + 65.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388247 ms (missed cycles : 3).[0m ×2 + 66.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595475 ms (missed cycles : 3). + 66.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595475 ms (missed cycles : 3).[0m ×2 + 67.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035246 ms (missed cycles : 2). + 67.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035246 ms (missed cycles : 2).[0m ×2 + 68.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.698ms + 69.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867803 ms (missed cycles : 2). + 69.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867803 ms (missed cycles : 2).[0m ×2 + 69.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.548ms + 69.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.769ms + 70.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.744ms + 70.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592674 ms (missed cycles : 3). + 70.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592674 ms (missed cycles : 3).[0m ×2 + 70.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 71.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.496ms + 71.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212883 ms (missed cycles : 3). + 71.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212883 ms (missed cycles : 3).[0m ×2 + 71.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.277ms + 72.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603119 ms (missed cycles : 3). + 72.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603119 ms (missed cycles : 3).[0m ×2 + 72.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.610ms + 73.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474337 ms (missed cycles : 4). + 73.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474337 ms (missed cycles : 4).[0m ×2 + 73.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.919ms + 73.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.431ms + 74.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198106 ms (missed cycles : 4). + 74.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198106 ms (missed cycles : 4).[0m ×2 + 74.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.501ms + 75.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.443ms + 75.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591134 ms (missed cycles : 3). + 75.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591134 ms (missed cycles : 3).[0m ×2 + 76.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003300 ms (missed cycles : 2). + 76.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003300 ms (missed cycles : 2).[0m ×2 + 76.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792909339.27058244 seconds ×3 + 76.56sINFOstate_estimatorReceived a set_pose request (stamp: 1792909339291310144, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 76.66sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.30) is out of map bounds (-4.75, 8.70) to (0.23, 13.68). The costmap cannot raytrace for it. + 76.66sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.94) is out of map bounds (-4.75, 8.70) to (0.23, 13.68). The costmap cannot raytrace for it. + 76.76sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.76sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.86sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 76.86sWARNlocal_costmap.local_costmapSensor origin at (-3.21, 13.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 77.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 77.07sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 77.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792909339.86151981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.13sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 15.509ms + 77.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 77.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.998ms + 77.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119941 ms (missed cycles : 3). + 77.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119941 ms (missed cycles : 3).[0m ×2 + 78.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009078 ms (missed cycles : 3). + 78.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009078 ms (missed cycles : 3).[0m ×2 + 79.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096990 ms (missed cycles : 3). + 79.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096990 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.6s	193 warnings · 215 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.30sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086519 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086519 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841773 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841773 ms (missed cycles : 3).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.054ms + 8.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.885ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347688 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347688 ms (missed cycles : 4).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.100ms + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.763ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499254 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499254 ms (missed cycles : 4).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.795ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941782 ms (missed cycles : 5). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941782 ms (missed cycles : 5).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.696ms + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.167ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822324 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822324 ms (missed cycles : 2).[0m ×2 + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.921ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601118 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601118 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.344ms + 13.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.263ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869433 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869433 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.277ms + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.376ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903402 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903402 ms (missed cycles : 2).[0m ×2 + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.989ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892786 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892786 ms (missed cycles : 2).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.400ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.750ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656952 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656952 ms (missed cycles : 4).[0m ×2 + 17.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.534ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079511 ms (missed cycles : 2). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079511 ms (missed cycles : 2).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.017ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.133ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270186 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270186 ms (missed cycles : 2).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.688ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.922ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451352 ms (missed cycles : 3). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451352 ms (missed cycles : 3).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.275ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670443 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670443 ms (missed cycles : 3).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.523ms + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854320 ms (missed cycles : 5). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854320 ms (missed cycles : 5).[0m ×2 + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.745ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752472 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752472 ms (missed cycles : 2).[0m ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.222ms + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.357ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072795 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072795 ms (missed cycles : 2).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.837ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070620 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070620 ms (missed cycles : 3).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805278 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805278 ms (missed cycles : 2).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.255ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.852ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655349 ms (missed cycles : 3). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655349 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.907ms + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.651ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061782 ms (missed cycles : 3). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061782 ms (missed cycles : 3).[0m ×2 + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.124ms + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045642 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045642 ms (missed cycles : 3).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.543ms + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.775ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769661 ms (missed cycles : 2). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769661 ms (missed cycles : 2).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.159ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529098 ms (missed cycles : 2). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529098 ms (missed cycles : 2).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.109ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.266ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973794 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973794 ms (missed cycles : 2).[0m ×2 + 33.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.378ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540459 ms (missed cycles : 3). + 34.06sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540459 ms (missed cycles : 3).[0m ×2 + 34.08sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661356 ms (missed cycles : 3). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661356 ms (missed cycles : 3).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703779 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703779 ms (missed cycles : 2).[0m ×2 + 36.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937379 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937379 ms (missed cycles : 2).[0m ×2 + 38.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.006ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906211 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906211 ms (missed cycles : 2).[0m ×2 + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150234 ms (missed cycles : 5). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150234 ms (missed cycles : 5).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919291 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919291 ms (missed cycles : 3).[0m ×2 + 41.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.384ms + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876502 ms (missed cycles : 2). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876502 ms (missed cycles : 2).[0m ×2 + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874133 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874133 ms (missed cycles : 2).[0m ×2 + 44.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826480 ms (missed cycles : 3). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826480 ms (missed cycles : 3).[0m ×2 + 44.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.818ms + 45.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658563 ms (missed cycles : 3). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658563 ms (missed cycles : 3).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127495 ms (missed cycles : 2). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127495 ms (missed cycles : 2).[0m ×2 + 47.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.501ms + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799711 ms (missed cycles : 3). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799711 ms (missed cycles : 3).[0m ×2 + 48.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.373ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810794 ms (missed cycles : 2). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810794 ms (missed cycles : 2).[0m ×2 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840892 ms (missed cycles : 2). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840892 ms (missed cycles : 2).[0m ×2 + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074977 ms (missed cycles : 4). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074977 ms (missed cycles : 4).[0m ×2 + 50.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.646ms + 51.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.014ms + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199709 ms (missed cycles : 3). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199709 ms (missed cycles : 3).[0m ×2 + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702387 ms (missed cycles : 3). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702387 ms (missed cycles : 3).[0m ×2 + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958954 ms (missed cycles : 3). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958954 ms (missed cycles : 3).[0m ×2 + 54.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.375ms + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317771 ms (missed cycles : 2). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317771 ms (missed cycles : 2).[0m ×2 + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094695 ms (missed cycles : 2). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094695 ms (missed cycles : 2).[0m ×2 + 56.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.683ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933552 ms (missed cycles : 2). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933552 ms (missed cycles : 2).[0m ×2 + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290902 ms (missed cycles : 4). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290902 ms (missed cycles : 4).[0m ×2 + 58.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.100ms + 59.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499724 ms (missed cycles : 3). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499724 ms (missed cycles : 3).[0m ×2 + 59.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.474ms + 59.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792909403.33039761 seconds ×3 + 59.97sINFOstate_estimatorReceived a set_pose request (stamp: 1792909403359905712, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.99sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.62) is out of map bounds (-4.45, 5.10) to (0.53, 10.08). The costmap cannot raytrace for it. + 59.99sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.57) is out of map bounds (-4.45, 5.10) to (0.53, 10.08). The costmap cannot raytrace for it. + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386582 ms (missed cycles : 2). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386582 ms (missed cycles : 2).[0m ×2 + 60.19sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.19sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.960ms + 60.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 60.42sINFOamclInitializing particles from estimated pose and covariance + 60.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 60.42sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 60.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.48sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792909403.94371629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.122ms + 60.95sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 61.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178543 ms (missed cycles : 2). + 61.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178543 ms (missed cycles : 2).[0m ×2 + 61.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417173 ms (missed cycles : 4). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417173 ms (missed cycles : 4).[0m ×2 + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802173 ms (missed cycles : 2). + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802173 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	184 warnings · 234 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444112 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444112 ms (missed cycles : 3).[0m ×2 + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.954ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.062ms + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.336ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324009 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324009 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.585ms + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.484ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792909103.16648531 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792909103189735407, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351742 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351742 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1809 particles 811 points - 6.389ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792909103.77412868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291044 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291044 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908139 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908139 ms (missed cycles : 3).[0m ×2 + 5.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.26sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.606ms + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833077 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833077 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653568 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653568 ms (missed cycles : 2).[0m ×2 + 8.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.549ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686194 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686194 ms (missed cycles : 3).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.100ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115877 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115877 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.275ms + 10.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.328ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165367 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165367 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.161ms + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.501ms + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986992 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986992 ms (missed cycles : 2).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026151 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026151 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.942ms + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.980ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739187 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739187 ms (missed cycles : 3).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.377ms + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.436ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636730 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636730 ms (missed cycles : 3).[0m ×2 + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.842ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396230 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396230 ms (missed cycles : 2).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.219ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.103ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940984 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940984 ms (missed cycles : 2).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.197ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.321ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019025 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019025 ms (missed cycles : 2).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.882ms + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998021 ms (missed cycles : 2). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998021 ms (missed cycles : 2).[0m ×2 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.334ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371927 ms (missed cycles : 3). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371927 ms (missed cycles : 3).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.439ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222142 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222142 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.186ms + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.538ms + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093025 ms (missed cycles : 3). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093025 ms (missed cycles : 3).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.903ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543515 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543515 ms (missed cycles : 3).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.943ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858258 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858258 ms (missed cycles : 2).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.709ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.410ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344979 ms (missed cycles : 3). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344979 ms (missed cycles : 3).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.468ms + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.978ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069485 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069485 ms (missed cycles : 2).[0m ×2 + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.895ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928260 ms (missed cycles : 3). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928260 ms (missed cycles : 3).[0m ×2 + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.742ms + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573316 ms (missed cycles : 3). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573316 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.442ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000663 ms (missed cycles : 3). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000663 ms (missed cycles : 3).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.111ms + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080065 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080065 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.363ms + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.442ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250814 ms (missed cycles : 2). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250814 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.652ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349875 ms (missed cycles : 3). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349875 ms (missed cycles : 3).[0m ×2 + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.790ms + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.389ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777914 ms (missed cycles : 3). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777914 ms (missed cycles : 3).[0m ×2 + 34.64sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.66sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247276 ms (missed cycles : 4). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247276 ms (missed cycles : 4).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921652 ms (missed cycles : 3). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921652 ms (missed cycles : 3).[0m ×2 + 36.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.170ms + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744631 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744631 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522032 ms (missed cycles : 3). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522032 ms (missed cycles : 3).[0m ×2 + 38.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.839ms + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911219 ms (missed cycles : 2). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911219 ms (missed cycles : 2).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589734 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589734 ms (missed cycles : 2).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473260 ms (missed cycles : 4). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473260 ms (missed cycles : 4).[0m ×2 + 41.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.527ms + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195862 ms (missed cycles : 2). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195862 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848308 ms (missed cycles : 2). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848308 ms (missed cycles : 2).[0m ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258254 ms (missed cycles : 5). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258254 ms (missed cycles : 5).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.458ms + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480060 ms (missed cycles : 3). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480060 ms (missed cycles : 3).[0m ×2 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578653 ms (missed cycles : 3). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578653 ms (missed cycles : 3).[0m ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044883 ms (missed cycles : 5). + 47.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044883 ms (missed cycles : 5).[0m ×2 + 48.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.997ms + 49.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.840ms + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181131 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181131 ms (missed cycles : 2).[0m ×2 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198349 ms (missed cycles : 4). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198349 ms (missed cycles : 4).[0m ×2 + 51.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986891 ms (missed cycles : 2). + 51.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986891 ms (missed cycles : 2).[0m ×2 + 51.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.603ms + 52.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674411 ms (missed cycles : 2). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674411 ms (missed cycles : 2).[0m ×2 + 52.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.059ms + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049395 ms (missed cycles : 3). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049395 ms (missed cycles : 3).[0m ×2 + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574138 ms (missed cycles : 3). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574138 ms (missed cycles : 3).[0m ×2 + 55.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.599ms + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947322 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947322 ms (missed cycles : 2).[0m ×2 + 55.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.841ms + 56.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000964 ms (missed cycles : 3). + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000964 ms (missed cycles : 3).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 59.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 60.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 60.57sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 60.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 60.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 61.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.52sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 61.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 61.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 62.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 62.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 62.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 64.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 64.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.1s	195 warnings · 236 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.856ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.585ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.805ms + 3.03sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.03sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792909199.83603215 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792909199854387193, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2).[0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.32sWARNlocal_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. ×3 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.392ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.54sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569683, y=-0.0171781, yaw=-0.0183982 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792909200.43151331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787097 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787097 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024737 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024737 ms (missed cycles : 5).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.191ms + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.474ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528008 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528008 ms (missed cycles : 3).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.504ms + 10.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.074ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151918 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151918 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.426ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787367 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787367 ms (missed cycles : 3).[0m ×2 + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.038ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.425ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489045 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489045 ms (missed cycles : 3).[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292059 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292059 ms (missed cycles : 2).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.524ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.876ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592878 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592878 ms (missed cycles : 2).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.354ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.954ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968670 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968670 ms (missed cycles : 3).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.847ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978270 ms (missed cycles : 5). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978270 ms (missed cycles : 5).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.114ms + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.261ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948307 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948307 ms (missed cycles : 2).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.259ms + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.305ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634669 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634669 ms (missed cycles : 2).[0m ×2 + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.489ms + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890788 ms (missed cycles : 3). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890788 ms (missed cycles : 3).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.572ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557818 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557818 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.424ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870296 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870296 ms (missed cycles : 2).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.651ms + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814765 ms (missed cycles : 3). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814765 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581577 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581577 ms (missed cycles : 2).[0m ×2 + 24.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.865ms + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.173ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498612 ms (missed cycles : 3). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498612 ms (missed cycles : 3).[0m ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.992ms + 25.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.498ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207853 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207853 ms (missed cycles : 3).[0m ×2 + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564436 ms (missed cycles : 6). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564436 ms (missed cycles : 6).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.740ms + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.050ms + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339373 ms (missed cycles : 3). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339373 ms (missed cycles : 3).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.079ms + 29.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.155ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2).[0m ×2 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.833ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098422 ms (missed cycles : 4). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098422 ms (missed cycles : 4).[0m ×2 + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.461ms + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.191ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954305 ms (missed cycles : 3). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954305 ms (missed cycles : 3).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.777ms + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406629 ms (missed cycles : 2). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406629 ms (missed cycles : 2).[0m ×2 + 33.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.670ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616788 ms (missed cycles : 4). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616788 ms (missed cycles : 4).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691067 ms (missed cycles : 3). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691067 ms (missed cycles : 3).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050516 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050516 ms (missed cycles : 2).[0m ×2 + 37.16sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515964 ms (missed cycles : 3). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515964 ms (missed cycles : 3).[0m ×2 + 37.86sINFOobjective_server_nodePlanning for 44 path waypoints. ×3 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307075 ms (missed cycles : 4). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307075 ms (missed cycles : 4).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618848 ms (missed cycles : 2). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618848 ms (missed cycles : 2).[0m ×2 + 39.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.842ms + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201420 ms (missed cycles : 5). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201420 ms (missed cycles : 5).[0m ×2 + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.481ms + 41.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476612 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476612 ms (missed cycles : 3).[0m ×2 + 41.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.915ms + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315353 ms (missed cycles : 2). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315353 ms (missed cycles : 2).[0m ×2 + 42.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.115ms + 43.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.103ms + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618655 ms (missed cycles : 3). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618655 ms (missed cycles : 3).[0m ×2 + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869803 ms (missed cycles : 2). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869803 ms (missed cycles : 2).[0m ×2 + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638212 ms (missed cycles : 4). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638212 ms (missed cycles : 4).[0m ×2 + 45.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.358ms + 46.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.783ms + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114423 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114423 ms (missed cycles : 2).[0m ×2 + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.791ms + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.956ms + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712841 ms (missed cycles : 3). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712841 ms (missed cycles : 3).[0m ×2 + 47.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.609ms + 48.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.962ms + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173413 ms (missed cycles : 2). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173413 ms (missed cycles : 2).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.914ms + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354637 ms (missed cycles : 3). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354637 ms (missed cycles : 3).[0m ×2 + 49.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.062ms + 50.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.045ms + 50.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029802 ms (missed cycles : 2). + 50.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029802 ms (missed cycles : 2).[0m ×2 + 51.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.119ms + 51.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919520 ms (missed cycles : 5). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919520 ms (missed cycles : 5).[0m ×2 + 52.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.552ms + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765375 ms (missed cycles : 3). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765375 ms (missed cycles : 3).[0m ×2 + 53.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.960ms + 54.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180328 ms (missed cycles : 3). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180328 ms (missed cycles : 3).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.331ms + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520842 ms (missed cycles : 2). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520842 ms (missed cycles : 2).[0m ×2 + 56.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.437ms + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324221 ms (missed cycles : 2). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324221 ms (missed cycles : 2).[0m ×2 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759692 ms (missed cycles : 4). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759692 ms (missed cycles : 4).[0m ×2 + 57.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.155ms + 58.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792909254.95169759 seconds ×3 + 58.21sINFOstate_estimatorReceived a set_pose request (stamp: 1792909254969620223, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.32sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.98) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 58.32sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.58) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 58.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844008 ms (missed cycles : 3). + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844008 ms (missed cycles : 3).[0m ×2 + 58.42sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 58.42sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 11.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 58.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.73sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.503ms + 58.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183996 + 58.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792909255.56827879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.780ms + 59.22sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484395 ms (missed cycles : 3). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484395 ms (missed cycles : 3).[0m ×2 + 60.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574240 ms (missed cycles : 3). + 60.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574240 ms (missed cycles : 3).[0m ×2 + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893062 ms (missed cycles : 2). + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893062 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	144 warnings · 425 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.11sINFOros2_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 ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.96sINFOmove_groupClearing octomap...[0m ×2 + 2.96sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496444 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496444 ms (missed cycles : 2).[0m ×2 + 7.46sINFOamclParticle filter update iteration stats: 1043 particles 811 points - 7.675ms + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434160 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434160 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534472 ms (missed cycles : 4). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534472 ms (missed cycles : 4).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214628 ms (missed cycles : 4). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214628 ms (missed cycles : 4).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112726 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112726 ms (missed cycles : 2).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919842 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919842 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.328834 ms (missed cycles : 5). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.328834 ms (missed cycles : 5).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846160 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846160 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351862 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351862 ms (missed cycles : 3).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882938 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882938 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715548 ms (missed cycles : 5). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715548 ms (missed cycles : 5).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402486 ms (missed cycles : 3). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402486 ms (missed cycles : 3).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943641 ms (missed cycles : 2). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943641 ms (missed cycles : 2).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553810 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553810 ms (missed cycles : 3).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689015 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689015 ms (missed cycles : 2).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.243ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469223 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469223 ms (missed cycles : 2).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087629 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087629 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316449 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316449 ms (missed cycles : 2).[0m ×2 + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045413 ms (missed cycles : 2). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045413 ms (missed cycles : 2).[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402628 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402628 ms (missed cycles : 3).[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040826 ms (missed cycles : 5). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040826 ms (missed cycles : 5).[0m ×2 + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810026 ms (missed cycles : 3). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810026 ms (missed cycles : 3).[0m ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666328 ms (missed cycles : 3). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666328 ms (missed cycles : 3).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545643 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545643 ms (missed cycles : 2).[0m ×2 + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948955 ms (missed cycles : 3). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948955 ms (missed cycles : 3).[0m ×2 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510905 ms (missed cycles : 3). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510905 ms (missed cycles : 3).[0m ×2 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756939 ms (missed cycles : 2). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756939 ms (missed cycles : 2).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968383 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968383 ms (missed cycles : 2).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102014 ms (missed cycles : 2). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102014 ms (missed cycles : 2).[0m ×2 + 37.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235393 ms (missed cycles : 3). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235393 ms (missed cycles : 3).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397612 ms (missed cycles : 2). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397612 ms (missed cycles : 2).[0m ×2 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916695 ms (missed cycles : 2). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916695 ms (missed cycles : 2).[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550652 ms (missed cycles : 3). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550652 ms (missed cycles : 3).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095873 ms (missed cycles : 4). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095873 ms (missed cycles : 4).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4).[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3).[0m ×2 + 46.61sINFOjoint_trajectory_controllerGoal reached, success! + 46.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792909097.00586390 seconds ×3 + 46.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.68sINFOstate_estimatorReceived a set_pose request (stamp: 1792909097023145198, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792909097.59632707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.26sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 47.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 47.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.28sINFOamclInitializing particles from estimated pose and covariance + 47.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 47.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 34.162ms + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2).[0m ×2 + 48.35sINFOobjective_server_nodeFound path in 0 iterations (2.3825e-05 s). ×2 + 48.42sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4). + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2).[0m ×2 + 49.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 50.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 50.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	119 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024814 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024814 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583394 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583394 ms (missed cycles : 3).[0m ×2 + 1.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.90sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792909167.07595515 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415734 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415734 ms (missed cycles : 4).[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765779 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765779 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792909168.67585301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872294 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872294 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095375 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095375 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444341 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444341 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385120 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385120 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812547 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812547 ms (missed cycles : 2).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.201ms + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.669ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038589 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038589 ms (missed cycles : 4).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.677ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416715 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416715 ms (missed cycles : 3).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.158ms + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.547ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168639 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168639 ms (missed cycles : 2).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.854ms + 12.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.774ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717302 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717302 ms (missed cycles : 2).[0m ×2 + 13.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.819ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329881 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329881 ms (missed cycles : 4).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.169ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.692ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458807 ms (missed cycles : 4). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458807 ms (missed cycles : 4).[0m ×2 + 15.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950598 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950598 ms (missed cycles : 2).[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104509 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104509 ms (missed cycles : 3).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079104 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079104 ms (missed cycles : 2).[0m ×2 + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.288ms + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.516ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.582ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.907ms + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009061 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009061 ms (missed cycles : 2).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.870ms + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360479 ms (missed cycles : 3). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360479 ms (missed cycles : 3).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.641ms + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.613ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789204 ms (missed cycles : 5). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789204 ms (missed cycles : 5).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.145ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315329 ms (missed cycles : 5). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315329 ms (missed cycles : 5).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.179ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.837ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319060 ms (missed cycles : 2). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319060 ms (missed cycles : 2).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.232ms + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.597ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391357 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391357 ms (missed cycles : 3).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.518ms + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205894 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205894 ms (missed cycles : 2).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.707ms + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646140 ms (missed cycles : 3). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646140 ms (missed cycles : 3).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.579ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.740ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882180 ms (missed cycles : 3). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882180 ms (missed cycles : 3).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.027ms + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973182 ms (missed cycles : 2). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973182 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253138 ms (missed cycles : 2). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253138 ms (missed cycles : 2).[0m ×2 + 31.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.013ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.856ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5).[0m ×2 + 33.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.585ms + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4).[0m ×2 + 34.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.805ms + 34.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792909199.83603215 seconds ×3 + 34.69sINFOstate_estimatorReceived a set_pose request (stamp: 1792909199854387193, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2).[0m ×2 + 34.82sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 34.82sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 34.92sWARNlocal_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. ×3 + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 35.13sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.392ms + 35.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.13sINFOamclInitializing particles from estimated pose and covariance + 35.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569683, y=-0.0171781, yaw=-0.0183982 + 35.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792909200.43151331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 35.68sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.5s	77 warnings · 259 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933552 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290902 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290902 ms (missed cycles : 4).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.100ms + 2.17sINFOros2_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 4.499724 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499724 ms (missed cycles : 3).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.474ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792909403.33039761 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.05sINFOstate_estimatorReceived a set_pose request (stamp: 1792909403359905712, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.62) is out of map bounds (-4.45, 5.10) to (0.53, 10.08). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.57) is out of map bounds (-4.45, 5.10) to (0.53, 10.08). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386582 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386582 ms (missed cycles : 2).[0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.960ms + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.49sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792909403.94371629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.122ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178543 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178543 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417173 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417173 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802173 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802173 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279455 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279455 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823223 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823223 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775295 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775295 ms (missed cycles : 2).[0m ×2 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 10.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 10.50sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019278 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019278 ms (missed cycles : 2).[0m ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 11.35sINFOobjective_server_nodeFound path in 33 iterations (0.0327885 s). ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797111 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797111 ms (missed cycles : 2).[0m ×2 + 11.79sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.63sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205323 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205323 ms (missed cycles : 2).[0m ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.51sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742249 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742249 ms (missed cycles : 4).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984067 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984067 ms (missed cycles : 2).[0m ×2 + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361031 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361031 ms (missed cycles : 3).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.818ms + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432219 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432219 ms (missed cycles : 3).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.723ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2).[0m ×2 + 19.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792909419.85145712 seconds ×3 + 19.55sINFOstate_estimatorReceived a set_pose request (stamp: 1792909419878004746, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 20.00sINFOamclParticle filter update iteration stats: 2051 particles 811 points - 5.590ms + 20.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569631, y=-0.0171779, yaw=-0.018397 + 20.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909420.48077226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.15sINFOmove_groupClearing octomap...[0m ×2 + 20.15sINFOmove_groupOctomap cleared.[0m ×2 + 20.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 21.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909421.54095221 seconds ×3 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2).[0m ×2 + 21.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909422.12886024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3).[0m ×2 + 23.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909423.50902891 seconds ×3 + 23.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860078 ms (missed cycles : 2).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.3s	120 errors · 33 warnings · 579 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2).[0m ×2 + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792909419.85145712 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.38sINFOstate_estimatorReceived a set_pose request (stamp: 1792909419878004746, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.83sINFOamclParticle filter update iteration stats: 2051 particles 811 points - 5.590ms + 1.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.83sINFOamclInitializing particles from estimated pose and covariance + 1.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.83sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569631, y=-0.0171779, yaw=-0.018397 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.90sINFOobjective_server_nodecaller: ×4 + 1.90sINFOobjective_server_nodetype: 0 ×4 + 1.90sINFOobjective_server_nodename: "" ×4 + 1.90sINFOobjective_server_nodeinstance_id: "" ×4 + 1.90sINFOobjective_server_node ×4 + 1.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909420.48077226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.02sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909421.54095221 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909422.12886024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909423.50902891 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860078 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860078 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344962 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344962 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.052211 ms (missed cycles : 5). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.052211 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931946 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931946 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306630 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306630 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758137 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758137 ms (missed cycles : 3).[0m ×2 + 11.00sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 11.02sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 11.02sERRORweb_video_auth_proxy-41process has died [pid 8235, 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 + 11.02sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-40process has died [pid 8232, 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 + 11.03sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 11.07sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 11.08sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 11.09sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 11.10sINFOvideo_server-39process has finished cleanly [pid 8231] ×2 + 11.10sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 11.11sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 11.12sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 11.13sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 11.14sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 11.15sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 11.16sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 11.18sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 11.19sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 11.20sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 11.22sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 11.23sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 11.25sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.25sINFOcontroller_managerShutdown request received.... + 11.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.25sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.25sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.25sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.25sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.26sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.26sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.26sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.26sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.26sINFOcontroller_managerShutting down the controller manager. + 11.27sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.28sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.29sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.29sERRORmove_group-25process has died [pid 8207, 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_jyvjfb3q --params-file /tmp/launch_params_jckljlqy --params-file /tmp/launch_params_nrb4rt7k --params-file /tmp/launch_params_fub65m3j --params-file /tmp/launch_params_s69r0jfr --params-file /tmp/launch_params_n_mq3hj9']. ×2 + 11.30sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.31sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.32sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.33sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.34sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.36sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.37sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.39sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.39sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.39sINFOmap_serverDeactivating + 11.39sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.40sINFOmap_serverCleaning up + 11.40sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.40sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.40sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.40sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.40sINFOcontroller_serverDeactivating + 11.40sINFOlocal_costmap.local_costmapDeactivating + 11.40sINFOvideo_server2026/10/25 06:23:49 INF shutting down gracefully ×2 + 11.40sINFOvideo_server2026/10/25 06:23:49 INF [WebRTC] closing ×2 + 11.40sINFOvideo_server2026/10/25 06:23:49 INF [RTSP] closing ×2 + 11.40sINFOvideo_server2026/10/25 06:23:49 INF waiting for running hooks ×2 + 11.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.41sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.41sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.41sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.41sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.41sERRORmove_groupStack trace (most recent call last) in thread 8874: ×2 + 11.41sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.41sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5f793dcc3, in __clone ×2 + 11.41sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5f78b0b83, in ×2 + 11.41sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5f7b41db3, in ×2 + 11.41sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fe5f82abe94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.41sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe5f7ed5620, in rclcpp::Rate::sleep() ×2 + 11.41sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe5f7e17d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.41sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe5f7dd9087, in ×2 + 11.41sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5f7b10390, in __cxa_throw ×2 + 11.41sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5f7afaa54, in std::terminate() ×2 + 11.41sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5f7b100d9, in ×2 + 11.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.41sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5f7afaff4, in ×2 + 11.41sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5f783c8fe, in abort ×2 + 11.41sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5f785927d, in raise ×2 + 11.41sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5f78b2c0c, in pthread_kill ×2 + 11.41sERRORmove_groupAborted (Signal sent by tkill() 8207 0) ×2 + 11.42sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.42sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.42sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.42sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.42sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.42sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.42sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.42sERRORamclThe bond connection to the lifecycle manager has been broken + 11.42sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.42sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.42sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.42sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.47sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.47sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.47sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.49sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.50sINFOcontroller_serverCleaning up + 11.50sINFOlocal_costmap.local_costmapCleaning up + 11.55sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.55sINFOsmoother_serverDeactivating + 11.55sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.56sINFOsmoother_serverCleaning up + 11.57sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.57sINFOplanner_serverDeactivating + 11.57sINFOglobal_costmap.global_costmapDeactivating + 11.58sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.58sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.58sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.58sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.58sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.58sINFOvelocity_smootherDeactivating + 11.58sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.69sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.69sINFOwaypoint_followerDeactivating + 11.69sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.71sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.71sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.79sINFOplanner_serverCleaning up + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.80sINFObt_navigatorDeactivating + 11.80sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.81sINFOglobal_costmap.global_costmapCleaning up + 11.82sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.82sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.85sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.85sINFObehavior_serverDeactivating + 11.85sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.86sINFObehavior_serverCleaning up + 11.86sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.86sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.86sINFOwaypoint_followerCleaning up + 11.87sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.87sINFOvelocity_smootherCleaning up + 11.87sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.92sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.98sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.98sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.98sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.98sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.98sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.98sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.98sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.98sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.98sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.00sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.00sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.00sINFObt_navigatorCleaning up + 12.13sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.13sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.14sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_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 + 12.14sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.14sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.14sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.14sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.14sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.14sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.14sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.15sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8230] ×2 + 12.15sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 12.15sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.15sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.15sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.15sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.15sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 12.15sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.15sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.15sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.15sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.15sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.15sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.15sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.15sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.15sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.15sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.15sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.15sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.15sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 12.15sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.18sINFObt_navigatorCompleted Cleaning up + 12.19sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.19sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.19sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.19sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.19sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.19sERRORjoint_state_visualization_relay-37process has died [pid 8229, 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_6fn33i0c']. ×2 + 12.20sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 12.21sERRORtf_visualization_relay-36process has died [pid 8226, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_kyhsi4d5']. ×2 + 12.21sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 12.24sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8211] ×2 + 12.25sINFOui_teleop_bridge-34process has finished cleanly [pid 8220] ×2 + 12.26sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8210] ×2 + 12.26sINFOexecute_objective_bridge-33process has finished cleanly [pid 8217] ×2 + 12.30sINFOparameter_manager_node-26process has finished cleanly [pid 8208] ×2 + 12.33sINFOwaypoint_manager_node-27process has finished cleanly [pid 8209] ×2 + 12.33sINFOrelay-11process has finished cleanly [pid 8146] ×2 + 12.34sINFOrelay-10process has finished cleanly [pid 8145] ×2 + 12.34sINFOcomponent_container_mt-32process has finished cleanly [pid 8216] ×2 + 12.35sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8041] ×2 + 12.35sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8147] ×2 + 12.36sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8040] ×2 + 12.37sINFOobjective_server_node[2026-10-25 06:23:50.874] [moveit_pro_license] [critical] ×2 + 12.37sINFOobjective_server_node************************************************* ×4 + 12.37sINFOobjective_server_node* MoveIt Pro License ×2 + 12.37sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.37sINFOstatic_transform_publisher-7process has finished cleanly [pid 8039] ×2 + 12.39sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.39sINFOlidar_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 + 12.39sINFOlidar_flattener.pymain() ×2 + 12.39sINFOlidar_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 + 12.39sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.39sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.39sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.39sINFOstatic_transform_publisher-6process has finished cleanly [pid 8038] ×2 + 12.39sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.39sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.39sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.39sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.39sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.39sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.40sINFOcomponent_container_mt-31process has finished cleanly [pid 8215] ×2 + 12.42sINFOstatic_transform_publisher-3process has finished cleanly [pid 8035] ×2 + 12.42sERRORcomponent_container_isolated-1process has died [pid 8033, 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_7dmpiivd --params-file /tmp/launch_params_x4nvhe0d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.45sERRORlidar_flattener.py-5process has died [pid 8037, 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_gjmmddn2']. ×2 + 12.60sINFOobjective_server_node_main-30process has finished cleanly [pid 8212] ×2 + 12.60sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 13.40sINFOodom_world_drift-4process has finished cleanly [pid 8036] ×2 + 13.69sERRORcomponent_container_isolated-2process has died [pid 8034, 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_7dmpiivd --params-file /tmp/launch_params_dq0i7c7n -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.00sINFOros2_control_node-13process has finished cleanly [pid 8148] ×2 + 14.26sINFOweb_bridge-35process has finished cleanly [pid 8223] ×2 + 14.26sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 69 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520842 ms (missed cycles : 2).[0m ×2 + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.437ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324221 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324221 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759692 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759692 ms (missed cycles : 4).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.155ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792909254.95169759 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792909254969620223, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.98) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.58) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844008 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844008 ms (missed cycles : 3).[0m ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 11.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.503ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.55sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183996 + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792909255.56827879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.780ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484395 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484395 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574240 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574240 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893062 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893062 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440782 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440782 ms (missed cycles : 2).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.542ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463077 ms (missed cycles : 4). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463077 ms (missed cycles : 4).[0m ×2 + 9.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.705ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164542 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164542 ms (missed cycles : 3).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 10.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.075ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496493 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496493 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 11.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.148ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177660 ms (missed cycles : 5). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177660 ms (missed cycles : 5).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810418 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810418 ms (missed cycles : 2).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.629ms + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 13.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.64sINFOjoint_trajectory_controllerGot request to cancel goal + 13.64sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.64sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.64sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.68sERRORobjective_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: 1792909265.63711119 seconds ×3 + 13.72sINFOstate_estimatorReceived a set_pose request (stamp: 1792909265651385669, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.84sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.84sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.94sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.94sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670541 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670541 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 4756 particles 811 points - 12.730ms + 14.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569259, y=-0.0171792, yaw=-0.0183993 + 14.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792909266.24037814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.639ms + 14.69sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083315 ms (missed cycles : 5). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083315 ms (missed cycles : 5).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455077 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455077 ms (missed cycles : 3).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174585 ms (missed cycles : 4). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174585 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	46 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024814 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024814 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583394 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583394 ms (missed cycles : 3).[0m ×2 + 9.12sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792909167.07595515 seconds ×3 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415734 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415734 ms (missed cycles : 4).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765779 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765779 ms (missed cycles : 2).[0m ×2 + 10.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792909168.67585301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872294 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872294 ms (missed cycles : 3).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095375 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095375 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444341 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444341 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	46 warnings · 147 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.431ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198106 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198106 ms (missed cycles : 4).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.501ms + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.443ms + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591134 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591134 ms (missed cycles : 3).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003300 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003300 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792909339.27058244 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1792909339291310144, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.30) is out of map bounds (-4.75, 8.70) to (0.23, 13.68). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.94) is out of map bounds (-4.75, 8.70) to (0.23, 13.68). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.21, 13.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792909339.86151981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 15.509ms + 3.34sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.34sINFOamclInitializing particles from estimated pose and covariance + 3.34sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.998ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119941 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119941 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009078 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009078 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096990 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096990 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 9.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 9.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	39 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792909097.00586390 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.11sINFOstate_estimatorReceived a set_pose request (stamp: 1792909097023145198, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792909097.59632707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 2.70sINFOamclInitializing particles from estimated pose and covariance ×2 + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 2.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 34.162ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.3825e-05 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2).[0m ×2 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 5.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 5.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444112 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444112 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.954ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.062ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.336ms + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324009 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324009 ms (missed cycles : 4).[0m ×2 + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 7.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.585ms + 8.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.484ms + 8.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792909103.16648531 seconds ×3 + 8.27sINFOstate_estimatorReceived a set_pose request (stamp: 1792909103189735407, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351742 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351742 ms (missed cycles : 3).[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 1809 particles 811 points - 6.389ms + 8.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792909103.77412868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291044 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291044 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908139 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908139 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.606ms + 11.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833077 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833077 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.7s	24 warnings · 126 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432219 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432219 ms (missed cycles : 3).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.723ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792909419.85145712 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOstate_estimatorReceived a set_pose request (stamp: 1792909419878004746, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOamclParticle filter update iteration stats: 2051 particles 811 points - 5.590ms + 2.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.92sINFOamclInitializing particles from estimated pose and covariance + 2.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569631, y=-0.0171779, yaw=-0.018397 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909420.48077226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.07sINFOmove_groupClearing octomap...[0m ×2 + 3.07sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.11sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909421.54095221 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909422.12886024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909423.50902891 seconds ×3 + 6.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860078 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860078 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344962 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344962 ms (missed cycles : 3).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 24 warnings · 708 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 1.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 6.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 21 warnings · 817 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.00sINFOobjective_server_nodeobjective_name: "" ×12 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.00sINFOobjective_server_node ×68 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.00sINFOobjective_server_node</Control> ×24 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.00sINFOobjective_server_nodecaller: ×26 + 0.00sINFOobjective_server_nodetype: 0 ×26 + 0.00sINFOobjective_server_nodename: "" ×26 + 0.00sINFOobjective_server_nodeinstance_id: "" ×26 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 0.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.19sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 0.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 1.01sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.58sINFOmove_groupClearing octomap...[0m ×4 + 2.58sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 5.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_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 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 341 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.96sINFOmove_groupClearing octomap...[0m ×2 + 2.96sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496444 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496444 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792909097.00586390 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.11sINFOstate_estimatorReceived a set_pose request (stamp: 1792909097023145198, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.62sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.62sINFOobjective_server_nodecaller: ×2 + 2.62sINFOobjective_server_nodetype: 0 ×2 + 2.62sINFOobjective_server_nodename: "" ×2 + 2.62sINFOobjective_server_nodeinstance_id: "" ×2 + 2.62sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792909097.59632707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.70sINFOamclInitializing particles from estimated pose and covariance + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 34.162ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.3825e-05 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2).[0m ×2 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 5.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 5.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581459 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066789 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792909097.00586390 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.11sINFOstate_estimatorReceived a set_pose request (stamp: 1792909097023145198, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.62sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.62sINFOobjective_server_nodecaller: ×2 + 2.62sINFOobjective_server_nodetype: 0 ×2 + 2.62sINFOobjective_server_nodename: "" ×2 + 2.62sINFOobjective_server_nodeinstance_id: "" ×2 + 2.62sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792909097.59632707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.70sINFOamclInitializing particles from estimated pose and covariance + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 34.162ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694277 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.3825e-05 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966841 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568763 ms (missed cycles : 2).[0m ×2 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 5.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 5.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444112 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444112 ms (missed cycles : 3).[0m ×2 + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.954ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.062ms + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.336ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324009 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324009 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.585ms + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.484ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792909103.16648531 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792909103189735407, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351742 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351742 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1809 particles 811 points - 6.389ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792909103.77412868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291044 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291044 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908139 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908139 ms (missed cycles : 3).[0m ×2 + 5.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.26sINFOamclInitializing particles from estimated pose and covariance + 5.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.606ms + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.23sINFOjoint_trajectory_controllerReceived new action goal + 6.23sINFOjoint_trajectory_controllerAccepted new action goal + 6.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833077 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833077 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 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	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550145 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386613 ms (missed cycles : 5).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409604 ms (missed cycles : 4).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792909160.69429922 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1792909160716598252, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350170 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792909161.29579568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054826 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.91sINFOamclInitializing particles from estimated pose and covariance + 4.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548182, y=-0.0165724, yaw=-0.0171297 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917050 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753154 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.856ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.585ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.805ms + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792909199.83603215 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792909199854387193, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2).[0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.32sWARNlocal_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. ×3 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.392ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.54sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569683, y=-0.0171781, yaw=-0.0183982 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792909200.43151331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.856ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.585ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.805ms + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792909199.83603215 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792909199854387193, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2).[0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.32sWARNlocal_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. ×3 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.392ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.54sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569683, y=-0.0171781, yaw=-0.0183982 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792909200.43151331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.856ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.585ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.805ms + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792909199.83603215 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792909199854387193, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2).[0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.32sWARNlocal_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. ×3 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.392ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.54sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569683, y=-0.0171781, yaw=-0.0183982 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792909200.43151331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938927 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.856ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807560 ms (missed cycles : 5).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.585ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128460 ms (missed cycles : 4).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.805ms + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792909199.83603215 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792909199854387193, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678421 ms (missed cycles : 2).[0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.32sWARNlocal_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. ×3 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.392ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.54sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569683, y=-0.0171781, yaw=-0.0183982 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792909200.43151331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834313 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453984 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275183 ms (missed cycles : 2).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 21 warnings · 587 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.07sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.68sINFOobjective_server_node</Control> ×8 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 0.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.57sINFOmove_groupClearing octomap...[0m ×4 + 1.57sINFOmove_groupOctomap cleared.[0m ×4 + 1.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_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 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275715 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406847 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771691 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792909345.76417446 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792909346.37024593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524728 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925317 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495117 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 126 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432219 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432219 ms (missed cycles : 3).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.723ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571356 ms (missed cycles : 3).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859585 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792909419.85145712 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOstate_estimatorReceived a set_pose request (stamp: 1792909419878004746, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOamclParticle filter update iteration stats: 2051 particles 811 points - 5.590ms + 2.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.92sINFOamclInitializing particles from estimated pose and covariance + 2.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569631, y=-0.0171779, yaw=-0.018397 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909420.48077226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.07sINFOmove_groupClearing octomap...[0m ×2 + 3.07sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.11sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257365 ms (missed cycles : 2).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909421.54095221 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549748 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909422.12886024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236803 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909423.50902891 seconds ×3 + 6.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860078 ms (missed cycles : 2).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 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	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 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	3 errors · 21 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	6 errors · 21 warnings · 593 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.07sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.68sINFOobjective_server_node</Control> ×8 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 0.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.57sINFOmove_groupClearing octomap...[0m ×4 + 1.57sINFOmove_groupOctomap cleared.[0m ×4 + 1.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_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 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 7.07sINFOjoint_trajectory_controllerReceived new action goal + 7.07sINFOjoint_trajectory_controllerAccepted new action goal + 7.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.07sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 805 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×22 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.61sINFOobjective_server_nodeobjective_name: "" ×12 + 0.61sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.61sINFOobjective_server_node ×66 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.61sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.61sINFOobjective_server_node</Control> ×24 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.61sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.61sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.61sINFOobjective_server_nodecaller: ×24 + 0.61sINFOobjective_server_nodetype: 0 ×24 + 0.61sINFOobjective_server_nodename: "" ×24 + 0.61sINFOobjective_server_nodeinstance_id: "" ×24 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 0.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.81sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.86sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 1.62sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 2.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.19sINFOmove_groupClearing octomap...[0m ×4 + 3.19sINFOmove_groupOctomap cleared.[0m ×4 + 3.20sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.20sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_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 + 6.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3
− skipped	—	addtovector.xml	0.0s	6 errors · 21 warnings · 716 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628731 ms (missed cycles : 2).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.61sINFOobjective_server_nodeobjective_name: "" ×12 + 0.61sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.61sINFOobjective_server_node ×64 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.61sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.61sINFOobjective_server_node</Control> ×24 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.61sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.61sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.61sINFOobjective_server_nodecaller: ×22 + 0.61sINFOobjective_server_nodetype: 0 ×22 + 0.61sINFOobjective_server_nodename: "" ×22 + 0.61sINFOobjective_server_nodeinstance_id: "" ×22 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.26091719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.35112476 seconds ×3 + 0.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.81sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.86sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 1.62sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 2.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.19sINFOmove_groupClearing octomap...[0m ×2 + 3.19sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.20sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 1.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 6.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 1.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 6.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909047.46917915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909047.53934407 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767777 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.13550305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909048.22569013 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.29345894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909048.35368848 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682916 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 1.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 6.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 18 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909048.95250106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792909049.05273151 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792909049.11426163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792909049.20442438 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 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	24 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496444 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496444 ms (missed cycles : 2).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 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	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659786 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.07sINFOobjective_server_nodecaller: ×14 + 0.07sINFOobjective_server_nodetype: 0 ×14 + 0.07sINFOobjective_server_nodename: "" ×14 + 0.07sINFOobjective_server_nodeinstance_id: "" ×14 + 0.07sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909049.79223728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.11sINFOmove_groupClearing octomap...[0m ×4 + 0.11sINFOmove_groupOctomap cleared.[0m ×4 + 0.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909049.81250811 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909050.39777231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909050.45794129 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926311 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909051.15213466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909051.21228504 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909051.90213919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826214 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909051.92231512 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909052.50206351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909052.65295720 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531831 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909053.26316333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909053.33337355 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792909053.92527366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122299 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244271 ms (missed cycles : 4).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761274 ms (missed cycles : 2).[0m ×2