87
Total objective tests
19
Objectives passed
0
Objectives failed
68
Objectives skipped
20.9s
Avg test time
100%
Objective pass rate
▾
(no parent)2 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 23.2s | 12 errors · 323 warnings · 1586 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-15-20-00-04-343597-a67b13b48ff5-8022 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.63sINFOstatic_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' + 4.63sINFOstatic_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' + 4.63sINFOstatic_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' + 4.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.72sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.74sINFOmap_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. + 4.74sINFOmap_serverCreating + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.79sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.83sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.86sINFOlifecycle_manager_localizationCreating + 4.89sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.89sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.89sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.89sINFOmap_serverConfiguring + 4.90sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.92sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.94sINFOcontroller_managerupdate rate is 600 Hz + 4.94sINFOcontroller_managerOverruns handling is : enabled + 4.94sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.94sWARNcontroller_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. + 4.95sINFOros2_control_node-13process started with pid [8187] ×2 + 4.95sINFOmove_group-25process started with pid [8246] ×2 + 4.95sINFOparameter_manager_node-26process started with pid [8247] ×2 + 4.95sINFOwaypoint_manager_node-27process started with pid [8248] ×2 + 4.95sINFOmove_joint_resampler_node-28process started with pid [8249] ×2 + 4.95sINFOmove_end_effector_resampler_node-29process started with pid [8250] ×2 + 4.95sINFOobjective_server_node_main-30process started with pid [8251] ×2 + 4.95sINFOcomponent_container_mt-31process started with pid [8254] ×2 + 4.95sINFOcomponent_container_mt-32process started with pid [8255] ×2 + 4.95sINFOexecute_objective_bridge-33process started with pid [8256] ×2 + 4.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.95sINFOui_teleop_bridge-34process started with pid [8257] ×2 + 4.95sINFOweb_bridge-35process started with pid [8258] ×2 + 4.95sINFOtf_visualization_relay-36process started with pid [8261] ×2 + 4.95sINFOjoint_state_visualization_relay-37process started with pid [8262] ×2 + 4.95sINFOtf2_web_republisher_node-38process started with pid [8266] ×2 + 4.95sINFOvideo_server-39process started with pid [8268] ×2 + 4.95sINFOweb_bridge_auth_proxy-40process started with pid [8269] ×2 + 4.95sINFOweb_video_auth_proxy-41process started with pid [8270] ×2 + 4.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.96sINFOcomponent_container_isolated-1process started with pid [8072] ×2 + 4.96sINFOcomponent_container_isolated-2process started with pid [8073] ×2 + 4.96sINFOstatic_transform_publisher-3process started with pid [8074] ×2 + 4.96sINFOodom_world_drift-4process started with pid [8075] ×2 + 4.96sINFOlidar_flattener.py-5process started with pid [8076] ×2 + 4.96sINFOstatic_transform_publisher-6process started with pid [8077] ×2 + 4.96sINFOstatic_transform_publisher-7process started with pid [8078] ×2 + 4.96sINFOscan_to_scan_filter_chain-8process started with pid [8079] ×2 + 4.96sINFOscan_to_scan_filter_chain-9process started with pid [8080] ×2 + 4.96sINFOrelay-10process started with pid [8184] ×2 + 4.96sINFOrelay-11process started with pid [8185] ×2 + 4.96sINFOfixed_lag_smoother_node-12process started with pid [8186] ×2 + 4.96sINFOros2-14process started with pid [8188] ×2 + 4.96sINFOros2-15process started with pid [8189] ×2 + 4.96sINFOros2-16process started with pid [8190] ×2 + 4.96sINFOros2-17process started with pid [8191] ×2 + 4.96sINFOros2-18process started with pid [8192] ×2 + 4.96sINFOros2-19process started with pid [8193] ×2 + 4.96sINFOros2-20process started with pid [8194] ×2 + 4.96sINFOros2-21process started with pid [8195] ×2 + 4.96sINFOros2-22process started with pid [8196] ×2 + 4.96sINFOros2-23process started with pid [8197] ×2 + 4.96sINFOros2-24process started with pid [8198] ×2 + 4.99sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.99sINFOamclConfiguring + 4.99sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.99sINFOmap_serverActivating + 4.99sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.00sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.00sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.00sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.00sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.00sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.00sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.00sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.00sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.00sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.00sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.00sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.00sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.00sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.00sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.00sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.00sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.00sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 5.05sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.06sINFOstate_estimatorReceived a set_pose request (stamp: 1792094411116686864, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.07sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.07sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.07sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.10sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.10sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.10sINFOamclActivating + 5.10sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.11sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.13sINFOamclSubscribed to map_topic: /map + 5.13sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.13sINFOamclCreated reinitialize_global_localization service + 5.13sINFOamclCreated request_nomotion_update service + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212330 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212330 ms (missed cycles : 3).[0m ×2 + 5.14sINFOamclA new map was received + 5.14sINFOamclInitializing particle filter instance + 5.16sINFOcontroller_serverCreating controller server + 5.19sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.22sINFOcontroller_managerReceived robot description from topic. + 5.22sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.22sINFOlocal_costmap.local_costmapCreating Costmap + 5.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.24sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.25sINFOrobot_state_publisherRobot initialized + 5.25sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.25sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.26sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.28sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.28sINFOsmoother_serverCreating smoother server + 5.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.35sINFOvideo_server2026/10/15 20:00:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.35sINFOvideo_server2026/10/15 20:00:11 INF configuration loaded from /tmp/moveit-webrtc-lvoqtl8a/mediamtx.yml ×2 + 5.35sINFOvideo_server2026/10/15 20:00:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.35sINFOvideo_server2026/10/15 20:00:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.36sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.40sINFOplanner_serverCreating + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.42sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.45sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.45sINFOglobal_costmap.global_costmapCreating Costmap + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.53sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.65sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.66sWARNlaser_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. + 5.67sWARNlaser_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. + 5.67sWARNscan_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 + 5.67sINFObt_navigatorCreating + 5.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.68sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.69sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.70sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.71sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.72sINFOwaypoint_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. + 5.72sINFOwaypoint_followerCreating + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.77sINFOvelocity_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. + 5.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.78sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.82sINFOlifecycle_manager_navigationCreating + 5.84sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.88sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.88sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.88sINFOcontroller_serverConfiguring controller interface + 5.88sINFOcontroller_servergetting progress checker plugins.. + 5.88sINFOcontroller_servergetting goal checker plugins.. + 5.88sINFOcontroller_serverController frequency set to 20.0000Hz + 5.88sINFOlocal_costmap.local_costmapConfiguring + 5.91sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.93sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.00sINFOamclParticle filter initialization completed + 6.00sINFOamclInitializing particles from estimated pose and covariance + 6.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.02sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.02sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.02sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.02sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.02sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.02sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.06sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.07sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.08sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.08sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.09sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.10sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.13sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.13sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.14sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636229 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636229 ms (missed cycles : 2).[0m ×2 + 6.17sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.17sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.20sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.20sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.20sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.20sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.20sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.20sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.21sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.22sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.22sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.22sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.23sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.23sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.23sINFOcontroller_serverOptimizer reset ×2 + 6.25sINFOcontroller_serverController Server has FollowPath controllers available. + 6.27sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.27sINFOsmoother_serverConfiguring smoother server + 6.31sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.31sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.32sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.33sINFOplanner_serverConfiguring + 6.33sINFOglobal_costmap.global_costmapConfiguring + 6.35sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.36sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.36sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.36sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.37sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.40sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.395772 seconds + 6.40sINFOmove_groupLoaded robot model in 0.395772 seconds[0m ×2 + 6.40sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.40sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.40sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.41sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.41sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.41sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.41sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.44sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.44sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.44sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.46sINFOplanner_serverPlanner Server has GridBased planners available. + 6.48sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.48sINFObehavior_serverConfiguring + 6.49sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.50sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.50sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.51sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.51sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.52sINFObehavior_serverConfiguring spin + 6.54sINFObehavior_serverConfiguring backup + 6.55sINFObehavior_serverConfiguring drive_on_heading + 6.55sINFObehavior_serverConfiguring assisted_teleop + 6.57sINFObehavior_serverConfiguring wait + 6.58sINFOweb_bridge_auth_proxy2026-10-15 20:00:12,632 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.58sINFOweb_bridge_auth_proxy2026-10-15 20:00:12,635 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.59sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.59sINFObt_navigatorConfiguring + 6.59sINFOweb_video_auth_proxy2026-10-15 20:00:12,642 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.60sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.60sWARNbt_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 + 6.75sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.81sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.81sINFOwaypoint_followerConfiguring + 6.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.83sWARNmove_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. + 6.83sWARNmove_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. + 6.83sWARNmove_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. + 6.83sWARNmove_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. + 6.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.83sWARNmove_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 + 6.83sWARNmove_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 + 6.83sWARNmove_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 + 6.83sWARNmove_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 + 6.83sWARNmove_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. + 6.83sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.83sWARNmove_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 + 6.83sWARNmove_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. + 6.84sWARNmove_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 + 6.84sWARNmove_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. + 6.84sWARNmove_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 + 6.84sWARNmove_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. + 6.84sWARNmove_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 + 6.84sWARNmove_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. + 6.84sWARNmove_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 + 6.84sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.84sWARNmove_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. + 6.84sINFOvelocity_smootherConfiguring velocity smoother + 6.84sWARNmove_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 + 6.85sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.85sINFOcontroller_serverActivating + 6.85sINFOlocal_costmap.local_costmapActivating + 6.85sINFOlocal_costmap.local_costmapChecking transform + 6.85sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×4 + 6.92sINFOwaypoint_manager_nodeLoaded robot model in 0.346521 seconds[0m ×2 + 6.92sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.92sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.99sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.99sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.99sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.99sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.02sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 7.02sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693750 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693750 ms (missed cycles : 2).[0m ×2 + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.38sWARNwaypoint_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 + 7.39sINFOmove_group[2026-10-15 20:00:13.444] [moveit_pro_license] [info] ×2 + 7.39sINFOmove_group************************************************* ×4 + 7.39sINFOmove_group* MoveIt Pro License ×2 + 7.39sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.77sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.77sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.77sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.77sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.78sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.78sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.78sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.78sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.78sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.78sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.78sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.78sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.78sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.78sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.84sINFOwaypoint_manager_node[2026-10-15 20:00:13.890] [moveit_pro_license] [info] ×2 + 7.84sINFOwaypoint_manager_node************************************************* ×4 + 7.84sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.84sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.89sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.89sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.89sINFOros2_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 + 7.90sWARNros2_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 + 7.90sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.90sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.90sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.90sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.90sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.90sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.90sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.90sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.90sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.96sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.96sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.11sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.11sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.14sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.14sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.14sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 8.14sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.14sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.14sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.14sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.15sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 8.15sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 8.20sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.20sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.20sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.22sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.22sINFOcontroller_managerSuccessfully switched controllers! ×22 + 8.22sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 8.23sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.23sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957286 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957286 ms (missed cycles : 2).[0m ×2 + 8.24sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.24sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.28sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.31sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.31sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.31sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.31sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.31sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.31sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.31sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.33sINFOobjective_server_node[2026-10-15 20:00:14.380] [moveit_pro_license] [info] ×2 + 8.33sINFOobjective_server_node************************************************* ×4 + 8.33sINFOobjective_server_node* MoveIt Pro License ×2 + 8.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.33sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.33sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.33sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.33sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.33sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.33sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.33sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.42sINFOobjective_server_nodeLoaded robot model in 0.0361792 seconds[0m ×2 + 8.42sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.42sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 8.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 8.55sINFOros2-16process has finished cleanly [pid 8190] ×2 + 8.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.58sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.61sINFOstreaming_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) + 8.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.61sINFOcomponent_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 + 8.61sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.71sWARNcomponent_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 + 8.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.84sWARNobjective_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. + 8.84sWARNobjective_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 + 8.84sWARNobjective_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. + 8.84sWARNobjective_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 + 8.84sWARNobjective_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. + 8.84sWARNobjective_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. + 8.85sWARNobjective_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 + 8.85sWARNobjective_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 + 8.85sWARNobjective_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. + 8.85sWARNobjective_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. + 8.85sWARNobjective_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 + 8.85sWARNobjective_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 + 8.85sWARNobjective_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. + 8.85sWARNobjective_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. + 8.85sWARNobjective_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 + 8.85sWARNobjective_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 + 8.85sWARNobjective_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. + 8.85sWARNobjective_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 + 8.85sWARNobjective_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. + 8.85sWARNobjective_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 + 8.85sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.85sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.85sINFOlocal_costmap.local_costmapstart + 8.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.93sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.96sWARNcontroller_serverParameter controller_server.verbose not found + 8.97sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.97sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.97sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.00sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.06sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.06sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.06sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.06sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.06sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 9.06sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 9.08sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.08sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.08sINFOsmoother_serverActivating + 9.08sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.10sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.11sINFOros2-15process has finished cleanly [pid 8189] ×2 + 9.12sINFOcomponent_container_mtLoaded robot model in 0.405206 seconds[0m ×2 + 9.12sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.12sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.14sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.14sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.14sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.14sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.14sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.14sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.15sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.15sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.19sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.19sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.19sINFOplanner_serverActivating + 9.19sINFOglobal_costmap.global_costmapActivating + 9.19sINFOglobal_costmap.global_costmapChecking transform + 9.19sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.25sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.25sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691370 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691370 ms (missed cycles : 2).[0m ×2 + 9.46sWARNplanning_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. + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.46sWARNplanning_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. + 9.46sWARNplanning_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. + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.46sWARNcomponent_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 + 9.46sWARNcomponent_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 + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.46sWARNcomponent_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 + 9.46sWARNplanning_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. + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.46sWARNcomponent_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 + 9.46sWARNplanning_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. + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.46sWARNcomponent_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 + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.46sWARNplanning_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. + 9.46sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.47sWARNplanning_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. + 9.47sWARNcomponent_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 + 9.48sWARNplanning_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. + 9.48sWARNplanning_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. + 9.48sWARNcomponent_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 + 9.48sWARNcomponent_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 + 9.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 9.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 9.62sINFOros2-18process has finished cleanly [pid 8192] ×2 + 9.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.68sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.69sINFOforce_torque_sensor_broadcasterconfigure successful + 9.69sINFOros2_control_nodeconfigure successful[0m ×6 + 9.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.74sINFOcomponent_container_mt[2026-10-15 20:00:15.798] [moveit_pro_license] [info] ×2 + 9.74sINFOcomponent_container_mt************************************************* ×4 + 9.74sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.74sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.82sINFOmove_groupMoveGroup debug mode is ON + 9.82sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.82sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.86sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.86sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.86sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.86sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.87sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.87sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.92sWARNros2_control_nodeCamera render tick took 0.92 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 + 9.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.96sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.96sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.96sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.96sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 40.687ms + 10.00sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 10.00sINFOmove_group ×8 + 10.00sINFOmove_group******************************************************** ×4 + 10.00sINFOmove_group* MoveGroup using: ×2 + 10.00sINFOmove_group* - apply_planning_scene_service ×2 + 10.00sINFOmove_group* - clear_octomap_service ×2 + 10.00sINFOmove_group* - get_group_urdf ×2 + 10.00sINFOmove_group* - load_geometry_from_file ×2 + 10.00sINFOmove_group* - get_planning_scene_service ×2 + 10.00sINFOmove_group* - kinematics_service ×2 + 10.00sINFOmove_group* - save_geometry_to_file ×2 + 10.00sINFOmove_group* - GetPlanningGroups ×2 + 10.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.00sINFOmove_group[0m ×2 + 10.00sINFOmove_group[92mYou can start planning now![0m ×2 + 10.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.03sINFOros2-14process has finished cleanly [pid 8188] ×2 + 10.13sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.13sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 10.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 10.19sINFOglobal_costmap.global_costmapstart + 10.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.25sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 10.25sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 10.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018728 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018728 ms (missed cycles : 2).[0m ×2 + 10.52sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 10.65sINFOros2_control_node[2026-10-15 20:00:16.705] [info] Controller state will be published at 20 Hz. ×2 + 10.65sINFOros2_control_node[2026-10-15 20:00:16.706] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.81sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792094416.037 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.98sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.98sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.99sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 10.99sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 11.00sINFOros2-23process has finished cleanly [pid 8197] ×2 + 11.06sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.06sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.08sINFOplatform_velocity_controllerconfigure successful + 11.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.08sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.08sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.24sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.24sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.35sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.35sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.35sINFObehavior_serverActivating + 11.35sINFObehavior_serverActivating spin + 11.35sINFObehavior_serverActivating backup + 11.35sINFObehavior_serverActivating drive_on_heading + 11.35sINFObehavior_serverActivating assisted_teleop + 11.35sINFObehavior_serverActivating wait + 11.35sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.38sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.38sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 11.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.38sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 11.42sINFOros2-17process has finished cleanly [pid 8191] ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573801 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573801 ms (missed cycles : 3).[0m ×2 + 11.45sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.45sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.45sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.45sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.46sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.46sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.46sINFObt_navigatorActivating + 11.46sINFOplatform_velocity_controller_nav2configure successful + 11.56sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.66sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.66sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.66sINFOwaypoint_followerActivating + 11.66sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.77sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.77sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.77sINFOvelocity_smootherActivating + 11.77sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 11.79sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 11.82sINFOros2-19process has finished cleanly [pid 8193] ×2 + 11.84sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.84sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.89sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.89sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.89sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.26sINFOros2_control_node[2026-10-15 20:00:18.309] [info] Controller state will be published at 20 Hz. ×2 + 12.26sINFOros2_control_node[2026-10-15 20:00:18.310] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843564 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843564 ms (missed cycles : 2).[0m ×2 + 12.59sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.59sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.59sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.59sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.61sINFOros2-24process has finished cleanly [pid 8198] ×2 + 12.72sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 12.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 12.79sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.79sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.79sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.79sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 13.19sINFOros2_control_node[2026-10-15 20:00:19.246] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.20sINFOros2_control_node[2026-10-15 20:00:19.250] [info] Controller state will be published at 10 Hz. ×2 + 13.20sINFOros2_control_node[2026-10-15 20:00:19.251] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939359 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939359 ms (missed cycles : 2).[0m ×2 + 13.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 13.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 13.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 13.55sINFOros2-22process has finished cleanly [pid 8196] ×2 + 13.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 13.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 13.60sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 14.02sINFOros2_control_node[2026-10-15 20:00:20.069] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.02sINFOros2_control_node[2026-10-15 20:00:20.070] [info] Controller state will be published at 10 Hz. ×2 + 14.02sINFOros2_control_node[2026-10-15 20:00:20.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.37sINFOros2-21process has finished cleanly [pid 8195] ×2 + 14.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g + 14.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g [0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248479 ms (missed cycles : 4). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248479 ms (missed cycles : 4).[0m ×2 + 14.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 14.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 14.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.87sINFOros2-20process has finished cleanly [pid 8194] ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492050 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492050 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383717 ms (missed cycles : 5). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383717 ms (missed cycles : 5).[0m ×2 + 16.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 16.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 16.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 16.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 16.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 16.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 16.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 16.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837397 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837397 ms (missed cycles : 2).[0m ×2 + 17.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510313 ms (missed cycles : 2). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510313 ms (missed cycles : 2).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 22.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 22.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 22.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 22.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 22.57sINFOobjective_server_nodecaller: ×10 + 22.57sINFOobjective_server_nodetype: 0 ×10 + 22.57sINFOobjective_server_nodename: "" ×10 + 22.57sINFOobjective_server_nodeinstance_id: "" ×10 + 22.57sINFOobjective_server_node ×10 + 22.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 22.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 22.64sINFOmove_groupClearing octomap...[0m ×4 + 22.64sINFOmove_groupOctomap cleared.[0m ×4 + 22.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 22.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 22.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 23.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 23.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 23.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 23.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 23.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 24.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 24.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 24.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 24.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 24.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 25.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 25.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 21 warnings · 335 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510313 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510313 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.97sINFOobjective_server_nodecaller: ×10 + 3.97sINFOobjective_server_nodetype: 0 ×10 + 3.97sINFOobjective_server_nodename: "" ×10 + 3.97sINFOobjective_server_nodeinstance_id: "" ×10 + 3.97sINFOobjective_server_node ×10 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.03sINFOmove_groupClearing octomap...[0m ×4 + 4.03sINFOmove_groupOctomap cleared.[0m ×4 + 4.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass29 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.3s | 3 errors · 255 warnings · 285 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.558ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885267 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885267 ms (missed cycles : 4).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.908ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.116ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799575 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799575 ms (missed cycles : 3).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.715ms + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.974ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337005 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337005 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 2.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×10 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOjoint_trajectory_controllerGot request to cancel goal + 2.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1792094639.56944585 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1792094639587513969, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.988ms + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792094640.16625476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.119ms + 3.82sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.82sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.82sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681095 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681095 ms (missed cycles : 2).[0m ×2 + 3.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.350ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373072 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373072 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246593 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246593 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622879 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622879 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804708 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804708 ms (missed cycles : 2).[0m ×2 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.690ms + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939656 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939656 ms (missed cycles : 2).[0m ×2 + 10.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.591ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811996 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811996 ms (missed cycles : 2).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.801ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.690ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962717 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962717 ms (missed cycles : 3).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.268ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.079ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462479 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462479 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.237ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.016ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913133 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913133 ms (missed cycles : 2).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.550ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.732ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623671 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623671 ms (missed cycles : 3).[0m ×2 + 15.12sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.938ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.882ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311731 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311731 ms (missed cycles : 2).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.450ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.526ms + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.047ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578351 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578351 ms (missed cycles : 2).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.596ms + 17.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.493ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944013 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944013 ms (missed cycles : 2).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681316 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681316 ms (missed cycles : 2).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.330ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.833ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882628 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882628 ms (missed cycles : 2).[0m ×2 + 20.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.291ms + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.586ms + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615573 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615573 ms (missed cycles : 2).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.384ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.552ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600455 ms (missed cycles : 4). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600455 ms (missed cycles : 4).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.541ms + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.816ms + 23.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383523 ms (missed cycles : 2). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383523 ms (missed cycles : 2).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.961ms + 24.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.732ms + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.805ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038174 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038174 ms (missed cycles : 2).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.664ms + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634567 ms (missed cycles : 3). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634567 ms (missed cycles : 3).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.349ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.046ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318443 ms (missed cycles : 4). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318443 ms (missed cycles : 4).[0m ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.787ms + 27.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.404ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119474 ms (missed cycles : 2). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119474 ms (missed cycles : 2).[0m ×2 + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.686ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263165 ms (missed cycles : 2). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263165 ms (missed cycles : 2).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.254ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.058ms + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453023 ms (missed cycles : 3). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453023 ms (missed cycles : 3).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.738ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.684ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.098ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174495 ms (missed cycles : 3). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174495 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.949ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.301ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091847 ms (missed cycles : 3). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091847 ms (missed cycles : 3).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.063ms + 32.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.816ms + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952522 ms (missed cycles : 3). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952522 ms (missed cycles : 3).[0m ×2 + 34.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.441ms + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500494 ms (missed cycles : 3). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500494 ms (missed cycles : 3).[0m ×2 + 34.73sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.73sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.29sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711791 ms (missed cycles : 3). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711791 ms (missed cycles : 3).[0m ×2 + 36.26sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620762 ms (missed cycles : 3). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620762 ms (missed cycles : 3).[0m ×2 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763144 ms (missed cycles : 2). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763144 ms (missed cycles : 2).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104504 ms (missed cycles : 3). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104504 ms (missed cycles : 3).[0m ×2 + 39.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.701ms + 39.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.221ms + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801621 ms (missed cycles : 4). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801621 ms (missed cycles : 4).[0m ×2 + 40.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.961ms + 40.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450476 ms (missed cycles : 4). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450476 ms (missed cycles : 4).[0m ×2 + 41.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.936ms + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086557 ms (missed cycles : 2). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086557 ms (missed cycles : 2).[0m ×2 + 42.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.854ms + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042136 ms (missed cycles : 3). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042136 ms (missed cycles : 3).[0m ×2 + 44.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261021 ms (missed cycles : 2). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261021 ms (missed cycles : 2).[0m ×2 + 44.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.700ms ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253903 ms (missed cycles : 3). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253903 ms (missed cycles : 3).[0m ×2 + 46.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.862ms + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744344 ms (missed cycles : 2). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744344 ms (missed cycles : 2).[0m ×2 + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.924ms + 47.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430668 ms (missed cycles : 3). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430668 ms (missed cycles : 3).[0m ×2 + 47.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 48.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.548ms + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786554 ms (missed cycles : 3). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786554 ms (missed cycles : 3).[0m ×2 + 48.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.810ms + 49.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028450 ms (missed cycles : 3). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028450 ms (missed cycles : 3).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.029ms + 49.88sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872515 ms (missed cycles : 3). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872515 ms (missed cycles : 3).[0m ×2 + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994613 ms (missed cycles : 3). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994613 ms (missed cycles : 3).[0m ×2 + 51.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.971ms + 52.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985275 ms (missed cycles : 3). + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985275 ms (missed cycles : 3).[0m ×2 + 53.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067906 ms (missed cycles : 3). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067906 ms (missed cycles : 3).[0m ×2 + 53.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.642ms + 54.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.200ms + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266055 ms (missed cycles : 5). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266055 ms (missed cycles : 5).[0m ×2 + 54.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.050ms + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.290ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106304 ms (missed cycles : 3). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106304 ms (missed cycles : 3).[0m ×2 + 55.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.107ms + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578521 ms (missed cycles : 3). + 56.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578521 ms (missed cycles : 3).[0m ×2 + 56.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.402ms + 57.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809001 ms (missed cycles : 5). + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809001 ms (missed cycles : 5).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428530 ms (missed cycles : 3). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428530 ms (missed cycles : 3).[0m ×2 + 59.47sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576439 ms (missed cycles : 5). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576439 ms (missed cycles : 5).[0m ×2 + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922618 ms (missed cycles : 5). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922618 ms (missed cycles : 5).[0m ×2 + 62.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235079 ms (missed cycles : 3). + 62.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235079 ms (missed cycles : 3).[0m ×2 + 63.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479353 ms (missed cycles : 3). + 63.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479353 ms (missed cycles : 3).[0m ×2 + 63.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.606ms + 64.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207213 ms (missed cycles : 4). + 64.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207213 ms (missed cycles : 4).[0m ×2 + 65.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.215ms + 65.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863321 ms (missed cycles : 4). + 65.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863321 ms (missed cycles : 4).[0m ×2 + 65.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.631ms + 66.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.800ms + 66.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536303 ms (missed cycles : 3). + 66.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536303 ms (missed cycles : 3).[0m ×2 + 66.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.884ms + 67.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 67.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695907 ms (missed cycles : 2). + 67.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695907 ms (missed cycles : 2).[0m ×2 + 67.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.166ms + 68.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792094704.89642763 seconds ×3 + 68.34sINFOstate_estimatorReceived a set_pose request (stamp: 1792094704913808531, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786692 ms (missed cycles : 2). + 68.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786692 ms (missed cycles : 2).[0m ×2 + 68.41sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.63) is out of map bounds (-5.00, 8.20) to (-0.02, 13.18). The costmap cannot raytrace for it. + 68.41sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.45) is out of map bounds (-5.00, 8.20) to (-0.02, 13.18). The costmap cannot raytrace for it. + 68.51sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.51sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.45) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.666ms + 68.61sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.61sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.84sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.88sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792094705.48160744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.03sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.303ms + 69.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171811, yaw=-0.0184012 + 69.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.230ms + 69.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532765 ms (missed cycles : 2). + 69.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532765 ms (missed cycles : 2).[0m ×2 + 70.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012146 ms (missed cycles : 3). + 70.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012146 ms (missed cycles : 3).[0m ×2 + 71.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3). + 71.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.7s | 223 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994360 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994360 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575154 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575154 ms (missed cycles : 3).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.335ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160614 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160614 ms (missed cycles : 2).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.541ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140314 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140314 ms (missed cycles : 2).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.068ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333201 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333201 ms (missed cycles : 2).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.767ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640220 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640220 ms (missed cycles : 4).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.516ms + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.438ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184090 ms (missed cycles : 4). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184090 ms (missed cycles : 4).[0m ×2 + 13.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.421ms + 13.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.009ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602709 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602709 ms (missed cycles : 3).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.365ms + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.649ms + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093494 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093494 ms (missed cycles : 2).[0m ×2 + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.738ms + 15.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.994ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701899 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701899 ms (missed cycles : 3).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.325ms + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.311ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275761 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275761 ms (missed cycles : 3).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.049ms + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.488ms + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228597 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228597 ms (missed cycles : 2).[0m ×2 + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.367ms + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.066ms + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165203 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165203 ms (missed cycles : 2).[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.257ms + 20.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.790ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160066 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160066 ms (missed cycles : 3).[0m ×2 + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.726ms + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.669ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832084 ms (missed cycles : 5). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832084 ms (missed cycles : 5).[0m ×2 + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.524ms + 22.18sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.467ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195532 ms (missed cycles : 5). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195532 ms (missed cycles : 5).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.467ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.448ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635156 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635156 ms (missed cycles : 2).[0m ×2 + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.563ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.210ms + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139225 ms (missed cycles : 2). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139225 ms (missed cycles : 2).[0m ×2 + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.159ms + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.525ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926327 ms (missed cycles : 3). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926327 ms (missed cycles : 3).[0m ×2 + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.873ms + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.512ms + 26.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215311 ms (missed cycles : 3). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215311 ms (missed cycles : 3).[0m ×2 + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.836ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.850ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009091 ms (missed cycles : 2). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009091 ms (missed cycles : 2).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.764ms + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.376ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.667328 ms (missed cycles : 6). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.667328 ms (missed cycles : 6).[0m ×2 + 29.14sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.715ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.552ms + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471701 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471701 ms (missed cycles : 3).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.709ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.281ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552406 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552406 ms (missed cycles : 2).[0m ×2 + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.070ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824156 ms (missed cycles : 2). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824156 ms (missed cycles : 2).[0m ×2 + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.225ms + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.205ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052636 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052636 ms (missed cycles : 2).[0m ×2 + 33.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.797ms + 33.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630637 ms (missed cycles : 3). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630637 ms (missed cycles : 3).[0m ×2 + 34.69sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.74sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.404ms + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121740 ms (missed cycles : 2). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121740 ms (missed cycles : 2).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839159 ms (missed cycles : 4). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839159 ms (missed cycles : 4).[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741520 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741520 ms (missed cycles : 2).[0m ×2 + 38.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331778 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331778 ms (missed cycles : 3).[0m ×2 + 39.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.516ms + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009179 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009179 ms (missed cycles : 3).[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991811 ms (missed cycles : 3). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991811 ms (missed cycles : 3).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161599 ms (missed cycles : 3). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161599 ms (missed cycles : 3).[0m ×2 + 42.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.789ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221885 ms (missed cycles : 3). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221885 ms (missed cycles : 3).[0m ×2 + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813119 ms (missed cycles : 3). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813119 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176217 ms (missed cycles : 5). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176217 ms (missed cycles : 5).[0m ×2 + 45.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.554ms + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211381 ms (missed cycles : 2). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211381 ms (missed cycles : 2).[0m ×2 + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182178 ms (missed cycles : 5). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182178 ms (missed cycles : 5).[0m ×2 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226073 ms (missed cycles : 2). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226073 ms (missed cycles : 2).[0m ×2 + 48.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.928ms + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030824 ms (missed cycles : 7). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030824 ms (missed cycles : 7).[0m ×2 + 49.45sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512288 ms (missed cycles : 3). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512288 ms (missed cycles : 3).[0m ×2 + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522778 ms (missed cycles : 5). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522778 ms (missed cycles : 5).[0m ×2 + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111163 ms (missed cycles : 2). + 52.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111163 ms (missed cycles : 2).[0m ×2 + 52.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.017ms + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782713 ms (missed cycles : 2). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782713 ms (missed cycles : 2).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877536 ms (missed cycles : 2). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877536 ms (missed cycles : 2).[0m ×2 + 55.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748049 ms (missed cycles : 5). + 55.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748049 ms (missed cycles : 5).[0m ×2 + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997573 ms (missed cycles : 3). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997573 ms (missed cycles : 3).[0m ×2 + 56.48sWARNros2_control_nodeCamera render tick took 0.53 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 + 56.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.703ms + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967278 ms (missed cycles : 3). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967278 ms (missed cycles : 3).[0m ×2 + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053524 ms (missed cycles : 4). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053524 ms (missed cycles : 4).[0m ×2 + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256862 ms (missed cycles : 3). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256862 ms (missed cycles : 3).[0m ×2 + 59.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.457ms + 60.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792094769.11715913 seconds ×3 + 60.57sINFOstate_estimatorReceived a set_pose request (stamp: 1792094769133786911, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.64sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.62) is out of map bounds (-4.95, 6.90) to (0.03, 11.88). The costmap cannot raytrace for it. + 60.64sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.95, 6.90) to (0.03, 11.88). The costmap cannot raytrace for it. + 60.74sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.74sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260237 ms (missed cycles : 3). + 60.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260237 ms (missed cycles : 3).[0m ×2 + 60.94sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.94sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.09sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792094769.72224355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.682ms + 61.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.41sINFOamclInitializing particles from estimated pose and covariance + 61.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568137, y=-0.0171821, yaw=-0.0184028 + 61.55sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 61.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.120ms + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855531 ms (missed cycles : 3). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855531 ms (missed cycles : 3).[0m ×2 + 61.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262720 ms (missed cycles : 2). + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262720 ms (missed cycles : 2).[0m ×2 + 63.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710922 ms (missed cycles : 3). + 63.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710922 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 207 warnings · 241 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.426ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.041ms + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.123ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895956 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895956 ms (missed cycles : 3).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.205ms + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.285ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177068 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177068 ms (missed cycles : 2).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.479ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792094480.49100041 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1792094480510537251, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.777ms + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792094481.09274626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767556 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767556 ms (missed cycles : 2).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 6.379ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.53sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.53sINFOodom_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=-0.0568567, y=-0.017181, yaw=-0.0184014 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.514ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576628 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576628 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428053 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428053 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396716 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396716 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380855 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380855 ms (missed cycles : 3).[0m ×2 + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.218ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510017 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510017 ms (missed cycles : 3).[0m ×2 + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.108ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220896 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220896 ms (missed cycles : 2).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965174 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965174 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.418ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867997 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867997 ms (missed cycles : 3).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.092ms + 12.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.490ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132037 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132037 ms (missed cycles : 3).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.317ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.147ms + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466945 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466945 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.367ms + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.236ms + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195922 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195922 ms (missed cycles : 2).[0m ×2 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.910ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.893ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713767 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713767 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.221ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103719 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103719 ms (missed cycles : 3).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712723 ms (missed cycles : 3). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712723 ms (missed cycles : 3).[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.397ms + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.145ms + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996947 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996947 ms (missed cycles : 2).[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.075ms + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.881ms + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609217 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609217 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.346ms + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681776 ms (missed cycles : 4). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681776 ms (missed cycles : 4).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.378ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.349ms + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322383 ms (missed cycles : 5). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322383 ms (missed cycles : 5).[0m ×2 + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.579ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.826ms + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.287ms + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351996 ms (missed cycles : 3). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351996 ms (missed cycles : 3).[0m ×2 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.142ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517482 ms (missed cycles : 3). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517482 ms (missed cycles : 3).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.168ms + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.223ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936981 ms (missed cycles : 3). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936981 ms (missed cycles : 3).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.318ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.613ms + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785845 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785845 ms (missed cycles : 2).[0m ×2 + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.109ms + 27.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.697ms + 27.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027070 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027070 ms (missed cycles : 3).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.899ms + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743497 ms (missed cycles : 2). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743497 ms (missed cycles : 2).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.865ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.746ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398264 ms (missed cycles : 3). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398264 ms (missed cycles : 3).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.047ms + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.152ms + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121761 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121761 ms (missed cycles : 2).[0m ×2 + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.661ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895291 ms (missed cycles : 3). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895291 ms (missed cycles : 3).[0m ×2 + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.309ms + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.765ms + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181483 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181483 ms (missed cycles : 2).[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225644 ms (missed cycles : 4). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225644 ms (missed cycles : 4).[0m ×2 + 34.61sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.62sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377144 ms (missed cycles : 2). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377144 ms (missed cycles : 2).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184389 ms (missed cycles : 3). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184389 ms (missed cycles : 3).[0m ×2 + 36.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.238ms + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368504 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368504 ms (missed cycles : 2).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229562 ms (missed cycles : 2). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229562 ms (missed cycles : 2).[0m ×2 + 38.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.696ms + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564699 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564699 ms (missed cycles : 2).[0m ×2 + 39.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.919ms + 39.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692689 ms (missed cycles : 3). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692689 ms (missed cycles : 3).[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.533227 ms (missed cycles : 4). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.533227 ms (missed cycles : 4).[0m ×2 + 41.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.648ms + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605275 ms (missed cycles : 4). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605275 ms (missed cycles : 4).[0m ×2 + 43.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.049ms + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025580 ms (missed cycles : 3). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025580 ms (missed cycles : 3).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759894 ms (missed cycles : 2). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759894 ms (missed cycles : 2).[0m ×2 + 44.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.156ms + 45.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.605ms + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924075 ms (missed cycles : 3). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924075 ms (missed cycles : 3).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343377 ms (missed cycles : 3). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343377 ms (missed cycles : 3).[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703376 ms (missed cycles : 3). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703376 ms (missed cycles : 3).[0m ×2 + 48.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.182ms + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836493 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836493 ms (missed cycles : 2).[0m ×2 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819951 ms (missed cycles : 2). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819951 ms (missed cycles : 2).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878968 ms (missed cycles : 3). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878968 ms (missed cycles : 3).[0m ×2 + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.535ms + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605408 ms (missed cycles : 4). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605408 ms (missed cycles : 4).[0m ×2 + 52.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.620ms + 52.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.557546 ms (missed cycles : 6). + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.557546 ms (missed cycles : 6).[0m ×2 + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020603 ms (missed cycles : 3). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020603 ms (missed cycles : 3).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160251 ms (missed cycles : 3). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160251 ms (missed cycles : 3).[0m ×2 + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.700ms + 56.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979700 ms (missed cycles : 2). + 56.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979700 ms (missed cycles : 2).[0m ×2 + 56.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.052ms + 57.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 57.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 59.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 59.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 59.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 60.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 60.45sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 60.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 60.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.75sWARNlocal_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. ×5 + 60.75sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.97sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.02sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 61.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 61.41sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 61.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 61.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 62.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 63.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.7s | 219 warnings · 243 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×10 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.476ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792094577.24747777 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 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_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: 1792094577265948439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNlocal_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. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.26sWARNlocal_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. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 6.898ms + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.26, 11.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.16, 11.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792094577.84367275 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 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.168ms + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.91sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568019, y=-0.0171824, yaw=-0.0184031 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.135ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2).[0m ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.45sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554345 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554345 ms (missed cycles : 3).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.012ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421431 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421431 ms (missed cycles : 4).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.433ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736348 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736348 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.712ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956961 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956961 ms (missed cycles : 2).[0m ×2 + 11.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.316ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121261 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121261 ms (missed cycles : 3).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.389ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508714 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508714 ms (missed cycles : 2).[0m ×2 + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.263ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.154ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745489 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745489 ms (missed cycles : 2).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.754ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.566ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255967 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255967 ms (missed cycles : 2).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.413ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.229ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967508 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967508 ms (missed cycles : 2).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.368ms + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.830ms + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.228ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868250 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868250 ms (missed cycles : 3).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.519ms + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.267ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230242 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230242 ms (missed cycles : 2).[0m ×2 + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.454ms + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.771ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970376 ms (missed cycles : 4). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970376 ms (missed cycles : 4).[0m ×2 + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.169ms + 20.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.678ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222956 ms (missed cycles : 4). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222956 ms (missed cycles : 4).[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.063ms + 21.05sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.902ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696547 ms (missed cycles : 4). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696547 ms (missed cycles : 4).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.002ms + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.803ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282723 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282723 ms (missed cycles : 2).[0m ×2 + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.996ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.407ms + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045767 ms (missed cycles : 3). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045767 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.829ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.939ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839810 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839810 ms (missed cycles : 2).[0m ×2 + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.983ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.962ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604750 ms (missed cycles : 4). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604750 ms (missed cycles : 4).[0m ×2 + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.185ms + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.449ms + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.221ms + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027351 ms (missed cycles : 4). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027351 ms (missed cycles : 4).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.636ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.043ms + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149616 ms (missed cycles : 2). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149616 ms (missed cycles : 2).[0m ×2 + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.828ms + 28.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.772ms + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367504 ms (missed cycles : 2). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367504 ms (missed cycles : 2).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.567ms + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.324ms + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785244 ms (missed cycles : 4). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785244 ms (missed cycles : 4).[0m ×2 + 29.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.601ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.428ms + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485926 ms (missed cycles : 3). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485926 ms (missed cycles : 3).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.764ms + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.109ms + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049807 ms (missed cycles : 3). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049807 ms (missed cycles : 3).[0m ×2 + 32.05sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.480ms + 32.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.400ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199751 ms (missed cycles : 4). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199751 ms (missed cycles : 4).[0m ×2 + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.845ms + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052740 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052740 ms (missed cycles : 2).[0m ×2 + 34.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.824ms + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003930 ms (missed cycles : 2). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003930 ms (missed cycles : 2).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075615 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075615 ms (missed cycles : 2).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859757 ms (missed cycles : 3). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859757 ms (missed cycles : 3).[0m ×2 + 37.35sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551856 ms (missed cycles : 3). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551856 ms (missed cycles : 3).[0m ×2 + 38.11sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414444 ms (missed cycles : 3). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414444 ms (missed cycles : 3).[0m ×2 + 39.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.791ms + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838253 ms (missed cycles : 2). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838253 ms (missed cycles : 2).[0m ×2 + 40.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.991ms + 41.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564996 ms (missed cycles : 4). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564996 ms (missed cycles : 4).[0m ×2 + 41.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.923ms + 42.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.202ms + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759976 ms (missed cycles : 3). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759976 ms (missed cycles : 3).[0m ×2 + 42.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.169ms + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104409 ms (missed cycles : 4). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104409 ms (missed cycles : 4).[0m ×2 + 43.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.192ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236349 ms (missed cycles : 2). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236349 ms (missed cycles : 2).[0m ×2 + 45.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145838 ms (missed cycles : 3). + 45.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145838 ms (missed cycles : 3).[0m ×2 + 46.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.473ms + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220688 ms (missed cycles : 5). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220688 ms (missed cycles : 5).[0m ×2 + 46.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.765ms + 47.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.437ms + 47.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.232ms + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594942 ms (missed cycles : 5). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594942 ms (missed cycles : 5).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.256ms + 48.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.145ms + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627439 ms (missed cycles : 5). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627439 ms (missed cycles : 5).[0m ×2 + 48.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.893ms + 49.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.498ms + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451077 ms (missed cycles : 3). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451077 ms (missed cycles : 3).[0m ×2 + 49.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.833ms + 50.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733326 ms (missed cycles : 2). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733326 ms (missed cycles : 2).[0m ×2 + 50.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.767ms + 51.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206976 ms (missed cycles : 2). + 51.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206976 ms (missed cycles : 2).[0m ×2 + 52.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.658ms + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156498 ms (missed cycles : 3). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156498 ms (missed cycles : 3).[0m ×2 + 53.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.208ms + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800739 ms (missed cycles : 4). + 54.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800739 ms (missed cycles : 4).[0m ×2 + 54.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792094628.93381000 seconds ×3 + 54.72sINFOstate_estimatorReceived a set_pose request (stamp: 1792094628960729811, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 54.86sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.86sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.96sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.96sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191531 ms (missed cycles : 4). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191531 ms (missed cycles : 4).[0m ×2 + 55.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.30sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792094629.54533148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.39sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.293ms + 55.39sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568623, y=-0.0171808, yaw=-0.0184012 + 55.73sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 55.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.906ms + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255729 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255729 ms (missed cycles : 2).[0m ×2 + 56.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979699 ms (missed cycles : 2). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979699 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 150 warnings · 426 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393175 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393175 ms (missed cycles : 4).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384873 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384873 ms (missed cycles : 2).[0m ×2 + 7.75sINFOamclParticle filter update iteration stats: 1118 particles 811 points - 7.655ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879207 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879207 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786714 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786714 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321621 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321621 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439221 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439221 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354773 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354773 ms (missed cycles : 4).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303416 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303416 ms (missed cycles : 2).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002843 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002843 ms (missed cycles : 2).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770011 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770011 ms (missed cycles : 2).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556539 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556539 ms (missed cycles : 3).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488169 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488169 ms (missed cycles : 2).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2).[0m ×2 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280707 ms (missed cycles : 3). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280707 ms (missed cycles : 3).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494310 ms (missed cycles : 2). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494310 ms (missed cycles : 2).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055661 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055661 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937509 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937509 ms (missed cycles : 2).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.384ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434737 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434737 ms (missed cycles : 2).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036020 ms (missed cycles : 2). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036020 ms (missed cycles : 2).[0m ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791733 ms (missed cycles : 3). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791733 ms (missed cycles : 3).[0m ×2 + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545092 ms (missed cycles : 3). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545092 ms (missed cycles : 3).[0m ×2 + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622317 ms (missed cycles : 3). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622317 ms (missed cycles : 3).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222740 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222740 ms (missed cycles : 3).[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034894 ms (missed cycles : 5). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034894 ms (missed cycles : 5).[0m ×2 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823820 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823820 ms (missed cycles : 2).[0m ×2 + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188947 ms (missed cycles : 2). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188947 ms (missed cycles : 2).[0m ×2 + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316903 ms (missed cycles : 3). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316903 ms (missed cycles : 3).[0m ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965636 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965636 ms (missed cycles : 2).[0m ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595796 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595796 ms (missed cycles : 3).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307274 ms (missed cycles : 3). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307274 ms (missed cycles : 3).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739222 ms (missed cycles : 2). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739222 ms (missed cycles : 2).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.980ms + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540026 ms (missed cycles : 3). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540026 ms (missed cycles : 3).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318813 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318813 ms (missed cycles : 2).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800250 ms (missed cycles : 3). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800250 ms (missed cycles : 3).[0m ×2 + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211915 ms (missed cycles : 3). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211915 ms (missed cycles : 3).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3).[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3).[0m ×2 + 46.74sINFOjoint_trajectory_controllerGoal reached, success! + 46.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792094474.30077004 seconds ×3 + 46.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.79sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 46.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792094474317364688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.79sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2).[0m ×2 + 47.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.30sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 47.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792094474.89086151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.35sINFOamclInitializing particles from estimated pose and covariance + 47.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 47.37sWARNobjective_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 + 47.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 32.738ms + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2).[0m ×2 + 48.48sINFOobjective_server_nodeFound path in 0 iterations (3.8193e-05 s). ×2 + 48.56sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2).[0m ×2 + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.391ms + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.426ms + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 135 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108040 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108040 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742322 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742322 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.97sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792094544.48554349 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599827 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599827 ms (missed cycles : 2).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056894 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056894 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792094546.07732487 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 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980379 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980379 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888532 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888532 ms (missed cycles : 5).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716769 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716769 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283270 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283270 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722910 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722910 ms (missed cycles : 2).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.376ms + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.393ms + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492782 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492782 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.894ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.226ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152906 ms (missed cycles : 4). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152906 ms (missed cycles : 4).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.166ms + 12.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.111ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156404 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156404 ms (missed cycles : 2).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.208ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009341 ms (missed cycles : 4). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009341 ms (missed cycles : 4).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.248ms + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.588ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154206 ms (missed cycles : 4). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154206 ms (missed cycles : 4).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.425ms + 15.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.709ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833509 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833509 ms (missed cycles : 2).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.214ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.396ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442656 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442656 ms (missed cycles : 3).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.584ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791553 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791553 ms (missed cycles : 3).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.621ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.704ms + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116458 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116458 ms (missed cycles : 2).[0m ×2 + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.416ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.974ms + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617997 ms (missed cycles : 3). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617997 ms (missed cycles : 3).[0m ×2 + 20.32sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.787ms + 20.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.805ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666412 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666412 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.362ms + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.533ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319364 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319364 ms (missed cycles : 2).[0m ×2 + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.717ms + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.653ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239601 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239601 ms (missed cycles : 2).[0m ×2 + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.602ms + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.360ms + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.085ms + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853702 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853702 ms (missed cycles : 2).[0m ×2 + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.219ms + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.625ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419702 ms (missed cycles : 4). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419702 ms (missed cycles : 4).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.436ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.544ms + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727852 ms (missed cycles : 3). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727852 ms (missed cycles : 3).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.114ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.620ms + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302872 ms (missed cycles : 3). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302872 ms (missed cycles : 3).[0m ×2 + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.530ms + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.557ms + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882379 ms (missed cycles : 2). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882379 ms (missed cycles : 2).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.141ms + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101779 ms (missed cycles : 5). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101779 ms (missed cycles : 5).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.872ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.028ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658664 ms (missed cycles : 4). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658664 ms (missed cycles : 4).[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.357ms + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2).[0m ×2 + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 32.74sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4).[0m ×2 + 33.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.476ms + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2).[0m ×2 + 34.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792094577.24747777 seconds ×3 + 34.77sINFOstate_estimatorReceived a set_pose request (stamp: 1792094577265948439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.89sWARNlocal_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. + 34.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 34.99sWARNlocal_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. ×2 + 34.99sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2).[0m ×2 + 35.18sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 6.898ms + 35.19sWARNlocal_costmap.local_costmapSensor origin at (-3.26, 11.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.19sWARNlocal_costmap.local_costmapSensor origin at (-4.16, 11.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792094577.84367275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.64sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.168ms + 35.64sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.64sINFOamclInitializing particles from estimated pose and covariance + 35.64sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.64sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568019, y=-0.0171824, yaw=-0.0184031 + 35.74sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 36.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.135ms + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2).[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.6s | 88 warnings · 258 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967278 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967278 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053524 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053524 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256862 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256862 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.457ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792094769.11715913 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094769133786911, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.62) is out of map bounds (-4.95, 6.90) to (0.03, 11.88). The costmap cannot raytrace for it. + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.95, 6.90) to (0.03, 11.88). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260237 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260237 ms (missed cycles : 3).[0m ×2 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792094769.72224355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.682ms + 4.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.02sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568137, y=-0.0171821, yaw=-0.0184028 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.120ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855531 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855531 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262720 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262720 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710922 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710922 ms (missed cycles : 3).[0m ×2 + 7.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517350 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517350 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699327 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699327 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192958 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192958 ms (missed cycles : 3).[0m ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 10.45sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.49sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063460 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063460 ms (missed cycles : 4).[0m ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 11.46sINFOobjective_server_nodeFound path in 33 iterations (0.0323756 s). ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848089 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848089 ms (missed cycles : 3).[0m ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 12.47sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 12.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.84sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449248 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449248 ms (missed cycles : 4).[0m ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.76sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616930 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616930 ms (missed cycles : 4).[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352243 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352243 ms (missed cycles : 3).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621270 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621270 ms (missed cycles : 3).[0m ×2 + 16.32sWARNros2_control_nodeCamera render tick took 0.55 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 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.618ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474756 ms (missed cycles : 5). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474756 ms (missed cycles : 5).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.978ms + 18.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5).[0m ×2 + 19.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792094785.71954560 seconds ×3 + 19.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792094785744011459, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.784ms + 20.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792094786.35044217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.39sINFOmove_groupClearing octomap...[0m ×2 + 20.39sINFOmove_groupOctomap cleared.[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3).[0m ×2 + 20.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 2082 particles 811 points - 8.328ms + 20.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 20.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792094786.92057323 seconds ×3 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.807ms + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3).[0m ×2 + 21.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792094787.50566006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792094788.34580255 seconds ×3 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4).[0m ×2 + 22.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 14.0s | 125 errors · 33 warnings · 595 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.978ms + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5).[0m ×2 + 2.00sINFOjoint_trajectory_controllerGoal reached, success! + 2.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792094785.71954560 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.06sINFOstate_estimatorReceived a set_pose request (stamp: 1792094785744011459, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.784ms + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.57sINFOobjective_server_nodecaller: ×4 + 2.57sINFOobjective_server_nodetype: 0 ×4 + 2.57sINFOobjective_server_nodename: "" ×4 + 2.57sINFOobjective_server_nodeinstance_id: "" ×4 + 2.57sINFOobjective_server_node ×4 + 2.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792094786.35044217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3).[0m ×2 + 2.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 2082 particles 811 points - 8.328ms + 2.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.78sINFOamclInitializing particles from estimated pose and covariance + 2.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792094786.92057323 seconds ×3 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.807ms + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792094787.50566006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792094788.34580255 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4).[0m ×2 + 4.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418460 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418460 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342692 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342692 ms (missed cycles : 3).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108675 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108675 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084106 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084106 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091918 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091918 ms (missed cycles : 2).[0m ×2 + 11.11sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 11.16sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 11.17sERRORweb_video_auth_proxy-41process has died [pid 8270, 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 + 11.17sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 11.18sERRORweb_bridge_auth_proxy-40process has died [pid 8269, 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 + 11.18sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 11.19sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 11.21sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 11.22sINFOvideo_server-39process has finished cleanly [pid 8268] ×2 + 11.22sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 11.23sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 11.24sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 11.25sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 11.26sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 11.27sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 11.28sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 11.30sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550812 ms (missed cycles : 2). + 11.31sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 11.32sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 11.34sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 11.35sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.35sINFOcontroller_managerShutdown request received.... + 11.35sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.35sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.35sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.35sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.35sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.35sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.35sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.35sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.35sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.35sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.35sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.36sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.36sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.36sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.36sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.36sINFOcontroller_managerShutting down the controller manager. + 11.38sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.39sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.40sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.41sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.42sERRORmove_group-25process has died [pid 8246, 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_d9qe0svy --params-file /tmp/launch_params_z0uilw5l --params-file /tmp/launch_params_83a393d6 --params-file /tmp/launch_params_axx7qwbg --params-file /tmp/launch_params_dcbz8f6g --params-file /tmp/launch_params_9iswg0oy']. ×2 + 11.43sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.44sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.45sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.46sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.47sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.48sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.49sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.49sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.49sINFOmap_serverDeactivating + 11.49sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.49sERRORros2_control_node-13process has died [pid 8187, exit code -11, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_sstmbmms --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_y8xzo4ol --params-file /tmp/launch_params_esw59i0g -r ~/robot_description:=/robot_description']. ×2 + 11.50sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.50sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.50sINFOcontroller_serverDeactivating + 11.50sINFOlocal_costmap.local_costmapDeactivating + 11.50sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 11.50sINFOmap_serverCleaning up + 11.50sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.50sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.50sINFOvideo_server2026/10/15 20:06:34 INF shutting down gracefully ×2 + 11.50sINFOvideo_server2026/10/15 20:06:34 INF [WebRTC] closing ×2 + 11.50sINFOvideo_server2026/10/15 20:06:34 INF [RTSP] closing ×2 + 11.50sINFOvideo_server2026/10/15 20:06:34 INF waiting for running hooks ×2 + 11.50sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.50sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550812 ms (missed cycles : 2).[0m ×2 + 11.51sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.51sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.51sERRORmove_groupStack trace (most recent call last) in thread 8912: ×2 + 11.51sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.51sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.51sERRORros2_control_nodeStack trace (most recent call last) in thread 8274: ×2 + 11.51sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.51sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.51sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.51sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.51sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.51sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.51sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.51sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.51sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.51sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99c71c3cc3, in __clone ×2 + 11.51sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99c7136b83, in ×2 + 11.51sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99c73c7db3, in ×2 + 11.51sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f99c7b315e4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.51sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f99c775b620, in rclcpp::Rate::sleep() ×2 + 11.51sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f99c769dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f99c765f087, in ×2 + 11.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99c7396390, in __cxa_throw ×2 + 11.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99c7380a54, in std::terminate() ×2 + 11.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99c73960d9, in ×2 + 11.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99c7380ff4, in ×2 + 11.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99c70c28fe, in abort ×2 + 11.51sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99c70df27d, in raise ×2 + 11.51sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99c7138c0c, in pthread_kill ×2 + 11.51sERRORmove_groupAborted (Signal sent by tkill() 8246 0) ×2 + 11.51sINFOros2_control_node#9 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.51sINFOros2_control_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b09a3cc3, in __clone ×2 + 11.51sINFOros2_control_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b0916b83, in ×2 + 11.51sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f22b0ba9db3, in ×2 + 11.51sINFOros2_control_node#5 Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x55f6cf966bf9, in ×2 + 11.51sINFOros2_control_node#4 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7f22b10e8151, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&) ×2 + 11.51sINFOros2_control_node#3 Object "/opt/ros/jazzy/lib/libcontroller_interface.so", at 0x7f22b07b113e, in controller_interface::ControllerInterfaceBase::trigger_update(rclcpp::Time const&, rclcpp::Duration const&) ×2 + 11.51sINFOros2_control_node#2 Object "/opt/ros/jazzy/lib/libjoint_trajectory_controller.so", at 0x7f21a9f68be0, in joint_trajectory_controller::JointTrajectoryController::update(rclcpp::Time const&, rclcpp::Duration const&) ×2 + 11.51sINFOros2_control_node#1 Object "/opt/ros/jazzy/lib/libjoint_trajectory_controller.so", at 0x7f21a9fb9f28, in joint_trajectory_controller::Trajectory::time_from_start() const ×2 + 11.51sINFOros2_control_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f22b0f3077b, in rclcpp::Time::Time(rclcpp::Time const&) ×2 + 11.51sERRORros2_control_nodeSegmentation fault (Address not mapped to object [0x18]) ×2 + 11.51sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.51sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.51sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.51sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.52sERRORamclThe bond connection to the lifecycle manager has been broken + 11.52sINFOcontroller_serverCleaning up + 11.52sINFOlocal_costmap.local_costmapCleaning up + 11.57sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.57sINFOsmoother_serverDeactivating + 11.57sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.58sINFOsmoother_serverCleaning up + 11.59sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.59sINFOplanner_serverDeactivating + 11.59sINFOglobal_costmap.global_costmapDeactivating + 11.64sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.64sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.64sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.64sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.64sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.64sINFOvelocity_smootherDeactivating + 11.64sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.76sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.76sINFOwaypoint_followerDeactivating + 11.76sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.93sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.94sINFObt_navigatorDeactivating + 11.94sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.13sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.13sINFObehavior_serverDeactivating + 12.13sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.24sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.24sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.24sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.24sINFOjoint_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 + 12.24sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.24sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.24sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.24sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.24sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.24sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.24sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.25sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8266] ×2 + 12.25sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 12.26sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.26sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.26sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.26sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.26sINFOtf_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 + 12.26sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.26sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.26sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.26sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.26sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.26sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.26sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.26sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.26sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.26sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.26sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.26sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.26sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 12.26sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.30sERRORjoint_state_visualization_relay-37process has died [pid 8262, 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_vhgn_ept']. ×2 + 12.30sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 12.32sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.32sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.32sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.32sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.32sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.32sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.32sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.32sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.32sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.32sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.32sINFOvelocity_smootherCleaning up + 12.33sERRORtf_visualization_relay-36process has died [pid 8261, 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_rh54_0ck']. ×2 + 12.33sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.33sINFOwaypoint_followerCleaning up + 12.35sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8250] ×2 + 12.36sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.36sINFObt_navigatorCleaning up + 12.37sINFOexecute_objective_bridge-33process has finished cleanly [pid 8256] ×2 + 12.37sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8249] ×2 + 12.40sINFOparameter_manager_node-26process has finished cleanly [pid 8247] ×2 + 12.43sINFOwaypoint_manager_node-27process has finished cleanly [pid 8248] ×2 + 12.44sINFOrelay-11process has finished cleanly [pid 8185] ×2 + 12.45sINFOcomponent_container_mt-32process has finished cleanly [pid 8255] ×2 + 12.46sINFOrelay-10process has finished cleanly [pid 8184] ×2 + 12.46sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8080] ×2 + 12.47sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8186] ×2 + 12.48sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8079] ×2 + 12.48sINFOstatic_transform_publisher-7process has finished cleanly [pid 8078] ×2 + 12.49sINFOobjective_server_node[2026-10-15 20:06:36.191] [moveit_pro_license] [critical] ×2 + 12.49sINFOobjective_server_node************************************************* ×4 + 12.49sINFOobjective_server_node* MoveIt Pro License ×2 + 12.49sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.50sINFOstatic_transform_publisher-6process has finished cleanly [pid 8077] ×2 + 12.51sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.51sINFOlidar_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 + 12.51sINFOlidar_flattener.pymain() ×2 + 12.51sINFOlidar_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 + 12.51sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.51sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.51sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.51sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.51sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.51sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.51sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.51sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.51sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.51sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.51sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.51sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.51sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.51sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.53sINFOstatic_transform_publisher-3process has finished cleanly [pid 8074] ×2 + 12.53sINFObt_navigatorCompleted Cleaning up + 12.53sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.53sINFObehavior_serverCleaning up + 12.54sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.54sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.55sERRORlidar_flattener.py-5process has died [pid 8076, 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_suzcuufl']. ×2 + 12.56sINFOplanner_serverCleaning up + 12.57sINFOglobal_costmap.global_costmapCleaning up + 12.58sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.58sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.59sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.61sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.61sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.61sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.61sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.70sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.70sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.70sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.70sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.70sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.70sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.71sINFOobjective_server_node_main-30process has finished cleanly [pid 8251] ×2 + 12.71sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.95sERRORcomponent_container_isolated-1process has died [pid 8072, 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_q8pug64g --params-file /tmp/launch_params_h27oygob -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.50sINFOcomponent_container_mt-31process has finished cleanly [pid 8254] ×2 + 13.51sINFOodom_world_drift-4process has finished cleanly [pid 8075] ×2 + 13.85sERRORcomponent_container_isolated-2process has died [pid 8073, 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_q8pug64g --params-file /tmp/launch_params_o362502_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.07sINFOweb_bridge-35process has finished cleanly [pid 8258] ×2 + 14.07sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 16.11sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.11sINFOui_teleop_bridge-34sending signal 'SIGKILL' to process[ui_teleop_bridge-34] ×2 + 16.12sERRORui_teleop_bridge-34process has died [pid 8257, exit code -9, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_bkhh_mhv']. ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 80 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206976 ms (missed cycles : 2).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.658ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156498 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156498 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.208ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800739 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800739 ms (missed cycles : 4).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792094628.93381000 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792094628960729811, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191531 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191531 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×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 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792094629.54533148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.293ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.45sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568623, y=-0.0171808, yaw=-0.0184012 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.906ms + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255729 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255729 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979699 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979699 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877103 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877103 ms (missed cycles : 5).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447414 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447414 ms (missed cycles : 3).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.338ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107065 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107065 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.765ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368517 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368517 ms (missed cycles : 2).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.558ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885267 ms (missed cycles : 4). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885267 ms (missed cycles : 4).[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.908ms + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.116ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799575 ms (missed cycles : 3). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799575 ms (missed cycles : 3).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.715ms + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.974ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337005 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337005 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 13.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 13.38sINFOobjective_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 + 13.38sINFOjoint_trajectory_controllerGot request to cancel goal + 13.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.38sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.38sERRORobjective_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: 1792094639.56944585 seconds ×3 + 13.41sINFOstate_estimatorReceived a set_pose request (stamp: 1792094639587513969, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.62sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.62sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.988ms + 13.82sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.82sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.98sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792094640.16625476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.119ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681095 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681095 ms (missed cycles : 2).[0m ×2 + 14.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.350ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373072 ms (missed cycles : 4). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373072 ms (missed cycles : 4).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246593 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246593 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 54 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108040 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108040 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742322 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742322 ms (missed cycles : 3).[0m ×2 + 9.08sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792094544.48554349 seconds ×3 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599827 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599827 ms (missed cycles : 2).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056894 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056894 ms (missed cycles : 2).[0m ×2 + 11.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.10sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792094546.07732487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980379 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980379 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888532 ms (missed cycles : 5). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888532 ms (missed cycles : 5).[0m ×2 + 13.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716769 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716769 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 52 warnings · 149 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.215ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863321 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863321 ms (missed cycles : 4).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.631ms + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.800ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536303 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536303 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.884ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695907 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695907 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.166ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792094704.89642763 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094704913808531, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786692 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786692 ms (missed cycles : 2).[0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.63) is out of map bounds (-5.00, 8.20) to (-0.02, 13.18). The costmap cannot raytrace for it. + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.45) is out of map bounds (-5.00, 8.20) to (-0.02, 13.18). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.45) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.666ms + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792094705.48160744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.303ms + 3.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.87sINFOamclInitializing particles from estimated pose and covariance + 3.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171811, yaw=-0.0184012 + 4.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.230ms + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532765 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532765 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012146 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012146 ms (missed cycles : 3).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 9.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 10.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 10.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 13.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 44 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792094474.30077004 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_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 + 3.10sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792094474317364688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.10sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792094474.89086151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.65sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.68sWARNobjective_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 + 4.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 32.738ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.8193e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.391ms + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.426ms + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2).[0m ×2 + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.041ms + 7.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.123ms + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895956 ms (missed cycles : 3). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895956 ms (missed cycles : 3).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.205ms + 8.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.285ms + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177068 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177068 ms (missed cycles : 2).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.479ms + 9.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792094480.49100041 seconds ×3 + 9.29sINFOstate_estimatorReceived a set_pose request (stamp: 1792094480510537251, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.777ms + 9.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.80sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792094481.09274626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767556 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767556 ms (missed cycles : 2).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 6.379ms + 9.95sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568567, y=-0.017181, yaw=-0.0184014 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 10.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.514ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576628 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576628 ms (missed cycles : 3).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428053 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428053 ms (missed cycles : 3).[0m ×2 + 12.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 12.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 21 warnings · 129 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.618ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474756 ms (missed cycles : 5). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474756 ms (missed cycles : 5).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.978ms + 1.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792094785.71954560 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOstate_estimatorReceived a set_pose request (stamp: 1792094785744011459, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.784ms + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792094786.35044217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3).[0m ×2 + 3.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 2082 particles 811 points - 8.328ms + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.69sINFOamclInitializing particles from estimated pose and covariance + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792094786.92057323 seconds ×3 + 4.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.807ms + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792094787.50566006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792094788.34580255 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4).[0m ×2 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418460 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418460 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393175 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393175 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 27 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792094474.30077004 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_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 + 3.10sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792094474317364688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.10sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792094474.89086151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.65sINFOamclInitializing particles from estimated pose and covariance + 3.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.68sWARNobjective_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 + 4.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 32.738ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.8193e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.391ms + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.426ms + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 27 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673392 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504402 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408596 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792094474.30077004 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_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 + 3.10sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1792094474317364688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.10sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749060 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.190ms + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792094474.89086151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.65sINFOamclInitializing particles from estimated pose and covariance + 3.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.68sWARNobjective_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 + 4.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 32.738ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866234 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.8193e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905122 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.391ms + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.426ms + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.426ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818927 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.041ms + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.123ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895956 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895956 ms (missed cycles : 3).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.205ms + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.285ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177068 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177068 ms (missed cycles : 2).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.479ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792094480.49100041 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1792094480510537251, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.777ms + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792094481.09274626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767556 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767556 ms (missed cycles : 2).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 6.379ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_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=-0.0568567, y=-0.017181, yaw=-0.0184014 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.514ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576628 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576628 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428053 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428053 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.20sINFOjoint_trajectory_controllerAccepted new action goal + 6.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 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 | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576665 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186605 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318674 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.067ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792094538.07289171 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792094538092129666, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191013 ms (missed cycles : 3).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.48sWARNlocal_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. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792094538.67539620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.483ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171813, yaw=-0.0184009 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866707 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.226ms + 4.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446333 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 39 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.476ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792094577.24747777 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 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792094577265948439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNlocal_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. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.26sWARNlocal_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. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 6.898ms + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.26, 11.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.16, 11.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792094577.84367275 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 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.168ms + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.91sINFOamclInitializing particles from estimated pose and covariance + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568019, y=-0.0171824, yaw=-0.0184031 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.135ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2).[0m ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate Hangar Loop | navigate_hangar_loop.xml | 0.0s | 39 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.476ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792094577.24747777 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 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792094577265948439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNlocal_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. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.26sWARNlocal_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. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 6.898ms + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.26, 11.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.16, 11.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792094577.84367275 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 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.168ms + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.91sINFOamclInitializing particles from estimated pose and covariance + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568019, y=-0.0171824, yaw=-0.0184031 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.135ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2).[0m ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 39 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.476ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792094577.24747777 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 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792094577265948439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNlocal_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. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.26sWARNlocal_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. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 6.898ms + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.26, 11.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.16, 11.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792094577.84367275 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 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.168ms + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.91sINFOamclInitializing particles from estimated pose and covariance + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568019, y=-0.0171824, yaw=-0.0184031 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.135ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2).[0m ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 39 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348587 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.075ms + 1.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714940 ms (missed cycles : 4).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.476ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849507 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792094577.24747777 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 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792094577265948439, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNlocal_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. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.26sWARNlocal_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. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192334 ms (missed cycles : 2).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 6.898ms + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.26, 11.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.16, 11.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792094577.84367275 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 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.168ms + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.91sINFOamclInitializing particles from estimated pose and covariance + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568019, y=-0.0171824, yaw=-0.0184031 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.135ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683667 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429012 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827936 ms (missed cycles : 2).[0m ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 4.167699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167699 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966330 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017309 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792094711.44174552 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465334 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792094712.03702474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104366 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144750 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 129 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.618ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474756 ms (missed cycles : 5). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474756 ms (missed cycles : 5).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.978ms + 1.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240052 ms (missed cycles : 2).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958083 ms (missed cycles : 5).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792094785.71954560 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOstate_estimatorReceived a set_pose request (stamp: 1792094785744011459, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.784ms + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792094786.35044217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445667 ms (missed cycles : 3).[0m ×2 + 3.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 2082 particles 811 points - 8.328ms + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.69sINFOamclInitializing particles from estimated pose and covariance + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792094786.92057323 seconds ×3 + 4.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.807ms + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310030 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792094787.50566006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792094788.34580255 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043129 ms (missed cycles : 4).[0m ×2 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.90sINFOobjective_server_nodecaller: ×10 + 1.91sINFOobjective_server_nodetype: 0 ×10 + 1.91sINFOobjective_server_nodename: "" ×10 + 1.91sINFOobjective_server_nodeinstance_id: "" ×10 + 1.91sINFOobjective_server_node ×10 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.97sINFOmove_groupClearing octomap...[0m ×4 + 1.97sINFOmove_groupOctomap cleared.[0m ×4 + 1.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_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 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.96sINFOjoint_trajectory_controllerReceived new action goal + 6.96sINFOjoint_trajectory_controllerAccepted new action goal + 6.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 335 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843571 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465386 ms (missed cycles : 3).[0m ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.90sINFOobjective_server_nodecaller: ×10 + 1.91sINFOobjective_server_nodetype: 0 ×10 + 1.91sINFOobjective_server_nodename: "" ×10 + 1.91sINFOobjective_server_nodeinstance_id: "" ×10 + 1.91sINFOobjective_server_node ×10 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.97sINFOmove_groupClearing octomap...[0m ×4 + 1.97sINFOmove_groupOctomap cleared.[0m ×4 + 1.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_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 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393175 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393175 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490465 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792094428.68694663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.15sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792094428.69717121 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010605 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792094429.28603983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792094429.29615569 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792094429.87146544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800140 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792094430.02199769 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792094430.62993503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792094430.71005845 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767874 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792094431.29195714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736054 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170141 ms (missed cycles : 2).[0m ×2 | ||||