MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

16.6s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	23.1s	18 errors · 318 warnings · 1794 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/2026-10-20-20-20-57-322498-7717509869c8-8081 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.70sINFOstatic_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' + 4.71sINFOstatic_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' + 4.73sINFOstatic_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' + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.94sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.95sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.96sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.97sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.98sINFOcontroller_managerupdate rate is 600 Hz + 4.98sINFOcontroller_managerOverruns handling is : enabled + 4.98sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.98sWARNcontroller_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. + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183800 ms (missed cycles : 2). + 5.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.01sINFOstate_estimatorReceived a set_pose request (stamp: 1792527664064502096, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.01sINFOcontroller_serverCreating controller server + 5.04sINFOlocal_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. + 5.04sINFOlocal_costmap.local_costmapCreating Costmap + 5.05sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.05sINFOmap_serverCreating + 5.08sINFOros2_control_node-13process started with pid [8246] ×2 + 5.08sINFOmove_group-25process started with pid [8303] ×2 + 5.08sINFOparameter_manager_node-26process started with pid [8307] ×2 + 5.08sINFOwaypoint_manager_node-27process started with pid [8308] ×2 + 5.08sINFOmove_joint_resampler_node-28process started with pid [8329] ×2 + 5.08sINFOmove_end_effector_resampler_node-29process started with pid [8330] ×2 + 5.08sINFOobjective_server_node_main-30process started with pid [8331] ×2 + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.08sINFOcomponent_container_mt-31process started with pid [8332] ×2 + 5.08sINFOcomponent_container_mt-32process started with pid [8335] ×2 + 5.08sINFOexecute_objective_bridge-33process started with pid [8341] ×2 + 5.08sINFOui_teleop_bridge-34process started with pid [8342] ×2 + 5.08sINFOweb_bridge-35process started with pid [8350] ×2 + 5.08sINFOtf_visualization_relay-36process started with pid [8351] ×2 + 5.08sINFOjoint_state_visualization_relay-37process started with pid [8354] ×2 + 5.08sINFOtf2_web_republisher_node-38process started with pid [8355] ×2 + 5.08sINFOvideo_server-39process started with pid [8357] ×2 + 5.08sINFOweb_bridge_auth_proxy-40process started with pid [8374] ×2 + 5.08sINFOweb_video_auth_proxy-41process started with pid [8375] ×2 + 5.08sINFOcomponent_container_isolated-1process started with pid [8131] ×2 + 5.08sINFOcomponent_container_isolated-2process started with pid [8132] ×2 + 5.08sINFOstatic_transform_publisher-3process started with pid [8133] ×2 + 5.08sINFOodom_world_drift-4process started with pid [8134] ×2 + 5.08sINFOlidar_flattener.py-5process started with pid [8135] ×2 + 5.08sINFOstatic_transform_publisher-6process started with pid [8136] ×2 + 5.08sINFOstatic_transform_publisher-7process started with pid [8137] ×2 + 5.08sINFOscan_to_scan_filter_chain-8process started with pid [8138] ×2 + 5.08sINFOscan_to_scan_filter_chain-9process started with pid [8139] ×2 + 5.08sINFOrelay-10process started with pid [8243] ×2 + 5.08sINFOrelay-11process started with pid [8244] ×2 + 5.08sINFOfixed_lag_smoother_node-12process started with pid [8245] ×2 + 5.08sINFOros2-14process started with pid [8247] ×2 + 5.09sINFOros2-15process started with pid [8248] ×2 + 5.09sINFOros2-16process started with pid [8249] ×2 + 5.09sINFOros2-17process started with pid [8250] ×2 + 5.09sINFOros2-18process started with pid [8251] ×2 + 5.09sINFOros2-19process started with pid [8252] ×2 + 5.09sINFOros2-20process started with pid [8253] ×2 + 5.09sINFOros2-21process started with pid [8254] ×2 + 5.09sINFOros2-22process started with pid [8255] ×2 + 5.09sINFOros2-23process started with pid [8256] ×2 + 5.09sINFOros2-24process started with pid [8257] ×2 + 5.12sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.15sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.16sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.16sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.16sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.16sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.16sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.16sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.16sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.16sINFOsmoother_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. + 5.18sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.18sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.18sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.18sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.18sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.18sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.18sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.18sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.18sWARNros2_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 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183800 ms (missed cycles : 2).[0m ×2 + 5.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.20sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.20sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.22sINFOsmoother_serverCreating smoother server + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.23sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.24sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.27sINFOlifecycle_manager_localizationCreating + 5.27sINFOplanner_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. + 5.30sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.31sINFOplanner_serverCreating + 5.31sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.32sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.32sINFOmap_serverConfiguring + 5.35sINFOglobal_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. + 5.36sINFOglobal_costmap.global_costmapCreating Costmap + 5.36sINFOrobot_state_publisherRobot initialized + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.37sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.39sINFObehavior_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. + 5.39sINFOcontroller_managerReceived robot description from topic. + 5.39sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.40sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.40sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.40sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.42sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.42sINFOamclConfiguring + 5.43sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.43sINFOmap_serverActivating + 5.43sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.46sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.50sINFOvideo_server2026/10/20 20:21:04 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.50sINFOvideo_server2026/10/20 20:21:04 INF configuration loaded from /tmp/moveit-webrtc-h0sf4lr8/mediamtx.yml ×2 + 5.51sINFOvideo_server2026/10/20 20:21:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.51sINFOvideo_server2026/10/20 20:21:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.51sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.52sINFObt_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. + 5.54sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.54sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.54sINFOamclActivating + 5.54sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.54sINFObt_navigatorCreating + 5.54sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.56sINFOamclSubscribed to map_topic: /map + 5.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.56sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.56sINFOamclCreated reinitialize_global_localization service + 5.56sINFOamclCreated request_nomotion_update service + 5.57sINFOamclA new map was received + 5.57sINFOamclInitializing particle filter instance + 5.58sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.62sINFOwaypoint_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. + 5.62sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.62sINFOwaypoint_followerCreating + 5.63sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.63sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.63sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.69sINFOvelocity_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. + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.71sWARNlaser_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. + 5.71sWARNscan_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 + 5.72sWARNlaser_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. + 5.75sINFOlifecycle_manager_navigationCreating + 5.78sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.79sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.79sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.80sINFOcontroller_serverConfiguring controller interface + 5.80sINFOcontroller_servergetting progress checker plugins.. + 5.80sINFOcontroller_servergetting goal checker plugins.. + 5.80sINFOcontroller_serverController frequency set to 20.0000Hz + 5.80sINFOlocal_costmap.local_costmapConfiguring + 5.81sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.84sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.87sINFOweb_bridge_auth_proxy2026-10-20 20:21:04,922 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.87sINFOweb_bridge_auth_proxy2026-10-20 20:21:04,926 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.88sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.88sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.88sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.89sINFOweb_video_auth_proxy2026-10-20 20:21:04,940 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.93sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.93sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.94sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.94sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.95sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.96sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.99sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.99sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.99sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.99sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.99sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.01sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.02sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.02sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.02sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.02sINFOcontroller_serverOptimizer reset ×2 + 6.04sINFOcontroller_serverController Server has FollowPath controllers available. + 6.07sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.07sINFOsmoother_serverConfiguring smoother server + 6.08sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.08sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.09sINFOplanner_serverConfiguring + 6.09sINFOglobal_costmap.global_costmapConfiguring + 6.12sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.13sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.13sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.13sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.13sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.18sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.18sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.19sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137973 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137973 ms (missed cycles : 2).[0m ×2 + 6.27sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.27sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.27sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.27sINFOplanner_serverPlanner Server has GridBased planners available. + 6.30sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.30sINFObehavior_serverConfiguring + 6.34sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.35sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.36sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.37sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.38sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.39sINFObehavior_serverConfiguring spin + 6.44sINFObehavior_serverConfiguring backup + 6.44sINFObehavior_serverConfiguring drive_on_heading + 6.46sINFObehavior_serverConfiguring assisted_teleop + 6.46sINFOamclParticle filter initialization completed + 6.46sINFOamclInitializing particles from estimated pose and covariance + 6.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.47sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.48sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.48sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.48sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.50sINFObehavior_serverConfiguring wait + 6.52sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.52sINFObt_navigatorConfiguring + 6.53sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.54sWARNbt_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 + 6.72sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.72sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.4011 seconds + 6.72sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.72sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.72sINFOmove_groupLoaded robot model in 0.4011 seconds[0m ×2 + 6.72sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.72sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.77sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.77sINFOwaypoint_followerConfiguring + 6.80sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.80sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.80sINFOvelocity_smootherConfiguring velocity smoother + 6.82sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.82sINFOcontroller_serverActivating + 6.82sINFOlocal_costmap.local_costmapActivating + 6.82sINFOlocal_costmap.local_costmapChecking transform + 6.82sINFOlocal_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 ×11 + 6.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.92sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 6.92sINFOros2_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 + 7.03sINFOwaypoint_manager_nodeLoaded robot model in 0.355857 seconds[0m ×2 + 7.03sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.03sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.17sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.17sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.17sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.17sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.17sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.17sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928809 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928809 ms (missed cycles : 2).[0m ×2 + 7.51sWARNwaypoint_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. + 7.51sWARNwaypoint_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 + 7.51sWARNwaypoint_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. + 7.51sWARNwaypoint_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. + 7.51sWARNwaypoint_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. + 7.51sWARNwaypoint_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 + 7.51sWARNwaypoint_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 + 7.51sWARNwaypoint_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 + 7.51sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.52sWARNwaypoint_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. + 7.52sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.57sINFOmove_group[2026-10-20 20:21:06.618] [moveit_pro_license] [info] ×2 + 7.57sINFOmove_group************************************************* ×4 + 7.57sINFOmove_group* MoveIt Pro License ×2 + 7.57sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.78sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.79sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.79sINFOros2_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 + 7.79sWARNros2_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 + 7.79sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.79sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.79sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.79sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.79sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.79sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.79sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.79sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.79sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.79sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.79sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.80sINFOwaypoint_manager_node[2026-10-20 20:21:06.848] [moveit_pro_license] [info] ×2 + 7.80sINFOwaypoint_manager_node************************************************* ×4 + 7.80sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.80sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.84sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.84sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.93sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.93sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.93sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.93sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.93sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.93sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.93sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.93sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.93sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.93sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.94sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.94sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.94sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.94sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.94sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.94sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 8.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 8.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 8.07sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.07sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.12sINFOros2_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 + 8.12sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.12sWARNros2_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 + 8.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.13sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.16sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.16sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.18sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.19sINFOobjective_server_node[2026-10-20 20:21:07.244] [moveit_pro_license] [info] ×2 + 8.19sINFOobjective_server_node************************************************* ×4 + 8.19sINFOobjective_server_node* MoveIt Pro License ×2 + 8.19sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.28sINFOobjective_server_nodeLoaded robot model in 0.034079 seconds[0m ×2 + 8.28sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.28sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774464 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774464 ms (missed cycles : 2).[0m ×2 + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.48sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.52sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.52sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.52sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.52sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.52sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.52sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.52sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.52sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.53sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.53sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.53sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.53sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.53sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.53sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.54sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.54sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.54sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.54sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.54sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.54sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.64sINFOros2_control_node[2026-10-20 20:21:07.688] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.64sINFOros2_control_node[2026-10-20 20:21:07.692] [info] Controller state will be published at 10 Hz. ×2 + 8.64sINFOros2_control_node[2026-10-20 20:21:07.693] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.69sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.74sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.74sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.74sWARNobjective_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. + 8.74sWARNobjective_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 + 8.74sWARNobjective_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. + 8.74sWARNobjective_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 + 8.74sWARNobjective_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. + 8.74sWARNobjective_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 + 8.74sWARNobjective_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. + 8.74sWARNobjective_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 + 8.75sWARNobjective_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. + 8.75sWARNobjective_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. + 8.75sWARNobjective_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 + 8.75sWARNobjective_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. + 8.75sWARNobjective_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. + 8.75sWARNobjective_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 + 8.75sWARNobjective_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. + 8.75sWARNobjective_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 + 8.75sWARNobjective_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 + 8.75sWARNobjective_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 + 8.75sWARNobjective_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. + 8.75sWARNobjective_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 + 8.76sINFOstreaming_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) + 8.76sINFOcomponent_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 + 8.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.83sINFOobjective_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 + 8.83sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.85sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.85sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.85sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.85sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.85sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.85sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.85sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.88sWARNcomponent_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 + 8.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.99sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.99sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.99sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 9.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 9.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.01sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.03sINFOros2-21process has finished cleanly [pid 8254] ×2 + 9.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 9.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 9.10sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.10sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.16sINFOcomponent_container_mtLoaded robot model in 0.280844 seconds[0m ×2 + 9.16sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.16sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.24sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.24sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.40sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.40sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.40sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.40sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.44sINFOros2-16process has finished cleanly [pid 8249] ×2 + 9.47sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 9.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251078 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251078 ms (missed cycles : 2).[0m ×2 + 9.52sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.52sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.54sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.54sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.54sWARNplanning_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. + 9.55sWARNplanning_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. + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNcomponent_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 + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.55sWARNcomponent_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 + 9.55sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNcomponent_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 + 9.56sWARNcomponent_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 + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNplanning_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. + 9.56sWARNcomponent_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 + 9.56sWARNcomponent_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 + 9.80sINFOcomponent_container_mt[2026-10-20 20:21:08.850] [moveit_pro_license] [info] ×2 + 9.80sINFOcomponent_container_mt************************************************* ×4 + 9.80sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.80sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.85sINFOmove_groupMoveGroup debug mode is ON + 9.85sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.85sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.88sWARNros2_control_nodeCamera render tick took 0.85 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 + 9.88sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.88sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.89sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.89sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.89sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.90sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.90sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.90sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.90sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.90sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.91sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.94sINFOros2_control_node[2026-10-20 20:21:08.989] [info] Controller state will be published at 20 Hz. ×2 + 9.94sINFOros2_control_node[2026-10-20 20:21:08.990] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.01sINFOmove_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 ****************************************************** + 10.01sINFOmove_group ×8 + 10.01sINFOmove_group****************************************************** ×4 + 10.01sINFOmove_group* MoveGroup using: ×2 + 10.01sINFOmove_group* - apply_planning_scene_service ×2 + 10.01sINFOmove_group* - clear_octomap_service ×2 + 10.01sINFOmove_group* - get_group_urdf ×2 + 10.01sINFOmove_group* - load_geometry_from_file ×2 + 10.01sINFOmove_group* - get_planning_scene_service ×2 + 10.01sINFOmove_group* - kinematics_service ×2 + 10.01sINFOmove_group* - save_geometry_to_file ×2 + 10.01sINFOmove_group* - GetPlanningGroups ×2 + 10.01sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.01sINFOmove_group[0m ×2 + 10.01sINFOmove_group[92mYou can start planning now![0m ×2 + 10.16sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.17sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.26sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.26sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.26sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.26sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.27sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 10.27sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 10.29sINFOros2-24process has finished cleanly [pid 8257] ×2 + 10.36sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 10.36sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 10.37sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 10.37sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 10.37sINFOplatform_velocity_controller_nav2configure successful + 10.37sINFOros2_control_nodeconfigure successful[0m ×6 + 10.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420991 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420991 ms (missed cycles : 3).[0m ×2 + 10.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 10.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 10.70sINFOros2-19process has finished cleanly [pid 8252] ×2 + 10.77sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.77sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.77sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.77sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.77sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.77sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.78sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.78sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.78sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.89sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792527668.080 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.07sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.07sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.07sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.07sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 11.07sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 11.10sINFOros2-20process has finished cleanly [pid 8253] ×2 + 11.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.53sINFOros2_control_node[2026-10-20 20:21:10.582] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.53sINFOros2_control_node[2026-10-20 20:21:10.584] [info] Controller state will be published at 10 Hz. ×2 + 11.53sINFOros2_control_node[2026-10-20 20:21:10.586] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746678 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746678 ms (missed cycles : 2).[0m ×2 + 11.86sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.86sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.86sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.86sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.86sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 11.86sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 11.87sINFOros2-22process has finished cleanly [pid 8255] ×2 + 11.91sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.91sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.92sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.92sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.92sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.23sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.23sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.23sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.23sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.23sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 12.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 12.26sINFOros2-15process has finished cleanly [pid 8248] ×2 + 12.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.30sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.32sINFOlocal_costmap.local_costmapstart + 12.42sWARNcontroller_serverParameter controller_server.verbose not found + 12.42sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.53sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.53sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.53sINFOsmoother_serverActivating + 12.53sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.63sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.63sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.63sINFOplanner_serverActivating + 12.63sINFOglobal_costmap.global_costmapActivating + 12.63sINFOglobal_costmap.global_costmapChecking transform + 12.63sINFOglobal_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. + 12.65sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792527671.025 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391105 ms (missed cycles : 3). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391105 ms (missed cycles : 3).[0m ×2 + 12.72sINFOamclParticle filter update iteration stats: 1766 particles 811 points - 21.917ms + 12.75sINFOros2_control_node[2026-10-20 20:21:11.802] [info] Controller state will be published at 20 Hz. ×2 + 12.75sINFOros2_control_node[2026-10-20 20:21:11.803] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.09sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.09sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.09sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.09sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.10sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 13.10sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 13.10sINFOros2-23process has finished cleanly [pid 8256] ×2 + 13.12sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.14sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1792527672.171462 but the earliest data is at time 1792527672.401314, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.16sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.16sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.16sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.16sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.16sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.17sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.17sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.49sINFOros2-18process has finished cleanly [pid 8251] ×2 + 13.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 13.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 13.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.60sINFOforce_torque_sensor_broadcasterconfigure successful + 13.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.63sINFOglobal_costmap.global_costmapstart + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915404 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915404 ms (missed cycles : 2).[0m ×2 + 13.92sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.92sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.92sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.92sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.92sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq + 13.92sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0lj8h869 --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_x9z6ggbx --params-file /tmp/launch_params_rkw33_oq [0m ×2 + 13.94sINFOros2-14process has finished cleanly [pid 8247] ×2 + 13.99sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.99sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.99sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.99sINFOplatform_velocity_controllerconfigure successful + 14.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.00sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 14.00sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 14.34sINFOros2-17process has finished cleanly [pid 8250] ×2 + 14.69sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.69sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.80sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.80sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.80sINFObehavior_serverActivating + 14.80sINFObehavior_serverActivating spin + 14.80sINFObehavior_serverActivating backup + 14.80sINFObehavior_serverActivating drive_on_heading + 14.80sINFObehavior_serverActivating assisted_teleop + 14.80sINFObehavior_serverActivating wait + 14.80sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245383 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245383 ms (missed cycles : 4).[0m ×2 + 14.91sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.91sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.91sINFObt_navigatorActivating + 14.98sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.08sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.08sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.08sINFOwaypoint_followerActivating + 15.08sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.18sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.18sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.18sINFOvelocity_smootherActivating + 15.18sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.29sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.29sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.29sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906832 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906832 ms (missed cycles : 3).[0m ×2 + 16.53sWARNobjective_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 + 16.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121212 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121212 ms (missed cycles : 2).[0m ×2 + 17.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078804 ms (missed cycles : 3). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078804 ms (missed cycles : 3).[0m ×2 + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592327 ms (missed cycles : 4). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592327 ms (missed cycles : 4).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2).[0m ×2 + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 22.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.43sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.43sINFOobjective_server_nodeobjective_name: "" ×12 + 22.43sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.43sINFOobjective_server_node ×56 + 22.43sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.43sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.43sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.43sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.43sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.43sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.43sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.43sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.43sINFOobjective_server_node</Control> ×24 + 22.43sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.43sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.43sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.43sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.43sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.43sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.43sINFOobjective_server_nodecaller: ×14 + 22.43sINFOobjective_server_nodetype: 0 ×14 + 22.43sINFOobjective_server_nodename: "" ×14 + 22.43sINFOobjective_server_nodeinstance_id: "" ×14 + 22.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 22.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 22.64sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 22.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.76sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 23.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 23.45sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.52sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.58sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 24.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.14sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 24.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 24.38sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.46sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 25.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 25.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 25.04sINFOmove_groupClearing octomap...[0m ×2 + 25.04sINFOmove_groupOctomap cleared.[0m ×2 + 25.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3
✓ passed	—	release_fails	0.9s	6 errors · 21 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2).[0m ×2 + 0.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.34sINFOobjective_server_nodeobjective_name: "" ×12 + 1.34sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.34sINFOobjective_server_node ×64 + 1.34sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.34sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.34sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.34sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.34sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.34sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.34sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.34sINFOobjective_server_node</Control> ×24 + 1.34sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.34sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.34sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.34sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.34sINFOobjective_server_nodecaller: ×22 + 1.34sINFOobjective_server_nodetype: 0 ×22 + 1.34sINFOobjective_server_nodename: "" ×22 + 1.34sINFOobjective_server_nodeinstance_id: "" ×22 + 1.38sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 1.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 2.35sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 3.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3
✓ passed	—	placed	0.9s	6 errors · 24 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592327 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592327 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.38sINFOobjective_server_nodeobjective_name: "" ×12 + 3.38sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.38sINFOobjective_server_node ×60 + 3.38sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.38sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.38sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.38sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.38sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.38sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.38sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.38sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.38sINFOobjective_server_node</Control> ×24 + 3.38sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.38sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.38sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.38sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.38sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.38sINFOobjective_server_nodecaller: ×18 + 3.38sINFOobjective_server_nodetype: 0 ×18 + 3.38sINFOobjective_server_nodename: "" ×18 + 3.38sINFOobjective_server_nodeinstance_id: "" ×18 + 3.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 3.59sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.31sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 4.40sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.99sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 7.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3
✓ passed	—	hover_fails	0.8s	6 errors · 21 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.35sINFOobjective_server_nodeobjective_name: "" ×12 + 2.35sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.35sINFOobjective_server_node ×62 + 2.35sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.35sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.35sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.35sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.35sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.35sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.35sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.35sINFOobjective_server_node</Control> ×24 + 2.36sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.36sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.36sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.36sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.36sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.36sINFOobjective_server_nodecaller: ×20 + 2.36sINFOobjective_server_nodetype: 0 ×20 + 2.36sINFOobjective_server_nodename: "" ×20 + 2.36sINFOobjective_server_nodeinstance_id: "" ×20 + 2.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 2.56sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 2.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 3.37sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.44sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 4.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 4.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.97sINFOmove_groupClearing octomap...[0m ×2 + 4.97sINFOmove_groupOctomap cleared.[0m ×2 + 4.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 7.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 7.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 554 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592327 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592327 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590018 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330804 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.38sINFOobjective_server_nodeobjective_name: "" ×12 + 3.38sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.38sINFOobjective_server_node ×58 + 3.38sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.38sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.38sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.38sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.38sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.38sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.38sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.38sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.38sINFOobjective_server_node</Control> ×24 + 3.38sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.38sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.38sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.38sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.38sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.38sINFOobjective_server_nodecaller: ×16 + 3.38sINFOobjective_server_nodetype: 0 ×16 + 3.38sINFOobjective_server_nodename: "" ×16 + 3.38sINFOobjective_server_nodeinstance_id: "" ×16 + 3.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 3.59sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.31sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 4.40sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.99sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.8s	3 errors · 214 warnings · 275 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.176ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150548 ms (missed cycles : 4). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150548 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.022ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.740ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462313 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462313 ms (missed cycles : 4).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.653ms + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.609ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197066 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197066 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_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 + 2.80sINFOjoint_trajectory_controllerGot request to cancel goal + 2.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.83sERRORobjective_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: 1792527895.95499921 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOstate_estimatorReceived a set_pose request (stamp: 1792527895969709441, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sINFOamclParticle filter update iteration stats: 4601 particles 811 points - 8.104ms + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792527896.55624270 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 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854328 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854328 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710999 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710999 ms (missed cycles : 3).[0m ×2 + 4.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.98sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.98sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.728ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228263 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228263 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385893 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385893 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856889 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856889 ms (missed cycles : 2).[0m ×2 + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 8.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.481ms + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929302 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929302 ms (missed cycles : 2).[0m ×2 + 9.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.330ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175314 ms (missed cycles : 3). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175314 ms (missed cycles : 3).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.605ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917197 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917197 ms (missed cycles : 3).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.546ms + 12.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.682ms + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357383 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357383 ms (missed cycles : 3).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.347ms + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.615ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.855ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837344 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837344 ms (missed cycles : 3).[0m ×2 + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.967ms + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.657ms + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831789 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831789 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014710 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014710 ms (missed cycles : 3).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.104ms + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732707 ms (missed cycles : 3). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732707 ms (missed cycles : 3).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.715ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745229 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745229 ms (missed cycles : 3).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.961ms + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.417ms + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948636 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948636 ms (missed cycles : 2).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.120ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.102ms + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580875 ms (missed cycles : 3). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580875 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.058ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394335 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394335 ms (missed cycles : 3).[0m ×2 + 21.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.579ms + 22.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.635ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321447 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321447 ms (missed cycles : 2).[0m ×2 + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.556ms + 23.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.450ms + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678067 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678067 ms (missed cycles : 3).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.439ms + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673252 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673252 ms (missed cycles : 2).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.563ms + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.996ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735898 ms (missed cycles : 5). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735898 ms (missed cycles : 5).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.428ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.867ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103435 ms (missed cycles : 3). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103435 ms (missed cycles : 3).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.294ms + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273644 ms (missed cycles : 2). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273644 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.561ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.871ms + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697981 ms (missed cycles : 3). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697981 ms (missed cycles : 3).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.994ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081149 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081149 ms (missed cycles : 2).[0m ×2 + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.214ms + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.159ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804928 ms (missed cycles : 5). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804928 ms (missed cycles : 5).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.286ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870696 ms (missed cycles : 3). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870696 ms (missed cycles : 3).[0m ×2 + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.231ms + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.069ms + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474023 ms (missed cycles : 3). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474023 ms (missed cycles : 3).[0m ×2 + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.225ms + 34.51sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.51sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139737 ms (missed cycles : 2). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139737 ms (missed cycles : 2).[0m ×2 + 35.44sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320723 ms (missed cycles : 2). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320723 ms (missed cycles : 2).[0m ×2 + 36.59sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.110776 ms (missed cycles : 7). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.110776 ms (missed cycles : 7).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170658 ms (missed cycles : 3). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170658 ms (missed cycles : 3).[0m ×2 + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123071 ms (missed cycles : 3). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123071 ms (missed cycles : 3).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.155ms + 39.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.453ms + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069969 ms (missed cycles : 3). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069969 ms (missed cycles : 3).[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.746ms + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282186 ms (missed cycles : 3). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282186 ms (missed cycles : 3).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.019ms + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.448ms + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748150 ms (missed cycles : 3). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748150 ms (missed cycles : 3).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420604 ms (missed cycles : 3). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420604 ms (missed cycles : 3).[0m ×2 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896041 ms (missed cycles : 2). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896041 ms (missed cycles : 2).[0m ×2 + 44.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.799ms + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697052 ms (missed cycles : 3). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697052 ms (missed cycles : 3).[0m ×2 + 46.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.212ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640866 ms (missed cycles : 3). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640866 ms (missed cycles : 3).[0m ×2 + 46.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.950ms + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932515 ms (missed cycles : 3). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932515 ms (missed cycles : 3).[0m ×2 + 47.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.686ms + 47.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.020ms + 48.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.937ms + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673166 ms (missed cycles : 5). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673166 ms (missed cycles : 5).[0m ×2 + 48.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.998ms + 49.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.257ms + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921980 ms (missed cycles : 6). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921980 ms (missed cycles : 6).[0m ×2 + 50.06sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.628ms + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784357 ms (missed cycles : 2). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784357 ms (missed cycles : 2).[0m ×2 + 51.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738630 ms (missed cycles : 4). + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738630 ms (missed cycles : 4).[0m ×2 + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518714 ms (missed cycles : 3). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518714 ms (missed cycles : 3).[0m ×2 + 53.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676248 ms (missed cycles : 3). + 53.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676248 ms (missed cycles : 3).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.047ms + 54.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.683ms + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123168 ms (missed cycles : 2). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123168 ms (missed cycles : 2).[0m ×2 + 54.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.317ms + 55.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.622ms + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.144ms + 55.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147414 ms (missed cycles : 2). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147414 ms (missed cycles : 2).[0m ×2 + 56.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.281ms + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905190 ms (missed cycles : 3). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905190 ms (missed cycles : 3).[0m ×2 + 57.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.496ms + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933576 ms (missed cycles : 2). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933576 ms (missed cycles : 2).[0m ×2 + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.868ms + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052055 ms (missed cycles : 2). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052055 ms (missed cycles : 2).[0m ×2 + 59.29sINFOobjective_server_nodePlanning for 21 path waypoints. ×3 + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996196 ms (missed cycles : 2). + 59.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996196 ms (missed cycles : 2).[0m ×2 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201013 ms (missed cycles : 2). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201013 ms (missed cycles : 2).[0m ×2 + 61.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873313 ms (missed cycles : 3). + 61.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873313 ms (missed cycles : 3).[0m ×2 + 63.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398788 ms (missed cycles : 3). + 63.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398788 ms (missed cycles : 3).[0m ×2 + 63.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.883ms + 64.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949296 ms (missed cycles : 2). + 64.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949296 ms (missed cycles : 2).[0m ×2 + 65.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203833 ms (missed cycles : 3). + 65.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203833 ms (missed cycles : 3).[0m ×2 + 65.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.848ms + 65.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.936ms + 66.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.059ms + 66.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 66.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 66.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.350ms + 66.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.481ms + 67.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.934ms + 67.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221423 ms (missed cycles : 3). + 67.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221423 ms (missed cycles : 3).[0m ×2 + 67.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.406ms + 68.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140396 ms (missed cycles : 5). + 68.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140396 ms (missed cycles : 5).[0m ×2 + 68.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792527961.76640916 seconds ×3 + 68.68sINFOstate_estimatorReceived a set_pose request (stamp: 1792527961788259281, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.84sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.84sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 69.13sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.062ms + 69.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 69.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.18sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792527962.35701513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207114 ms (missed cycles : 3). + 69.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207114 ms (missed cycles : 3).[0m ×2 + 69.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.444ms + 70.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847527 ms (missed cycles : 2). + 70.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847527 ms (missed cycles : 2).[0m ×2 + 71.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778864 ms (missed cycles : 4). + 71.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778864 ms (missed cycles : 4).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	188 warnings · 236 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.067ms ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364820 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364820 ms (missed cycles : 4).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.724ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838250 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838250 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.771ms + 2.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 3.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.02sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792527737.39915776 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOstate_estimatorReceived a set_pose request (stamp: 1792527737414950323, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778169 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778169 ms (missed cycles : 4).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 9.446ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792527737.99089813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763007 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763007 ms (missed cycles : 2).[0m ×2 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760887 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760887 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063164 ms (missed cycles : 5). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063164 ms (missed cycles : 5).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849831 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849831 ms (missed cycles : 2).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.899ms + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970182 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970182 ms (missed cycles : 3).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.009ms + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.694ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898145 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898145 ms (missed cycles : 2).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.075ms + 11.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.031ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610893 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610893 ms (missed cycles : 2).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.282ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769212 ms (missed cycles : 4). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769212 ms (missed cycles : 4).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.296ms ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935451 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935451 ms (missed cycles : 3).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.263ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335803 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335803 ms (missed cycles : 2).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.912ms + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.313ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087458 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087458 ms (missed cycles : 2).[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.700ms + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.649ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937895 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937895 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.032ms + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472514 ms (missed cycles : 4). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472514 ms (missed cycles : 4).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.486ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694002 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694002 ms (missed cycles : 2).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.343ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.435319 ms (missed cycles : 6). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.435319 ms (missed cycles : 6).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.457ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577308 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577308 ms (missed cycles : 3).[0m ×2 + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.312ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.787ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798188 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798188 ms (missed cycles : 3).[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.349ms + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639658 ms (missed cycles : 3). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639658 ms (missed cycles : 3).[0m ×2 + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.267ms + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.180ms + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075172 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075172 ms (missed cycles : 2).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.715ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789320 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789320 ms (missed cycles : 3).[0m ×2 + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.380ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.480ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250363 ms (missed cycles : 5). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250363 ms (missed cycles : 5).[0m ×2 + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.076ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075169 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075169 ms (missed cycles : 2).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.723ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.198ms + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572402 ms (missed cycles : 5). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572402 ms (missed cycles : 5).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.536ms + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636687 ms (missed cycles : 3). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636687 ms (missed cycles : 3).[0m ×2 + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.214ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387101 ms (missed cycles : 3). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387101 ms (missed cycles : 3).[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.983ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161854 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161854 ms (missed cycles : 2).[0m ×2 + 32.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.388ms + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.635ms + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993962 ms (missed cycles : 3). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993962 ms (missed cycles : 3).[0m ×2 + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.716ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960148 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960148 ms (missed cycles : 3).[0m ×2 + 34.57sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.61sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648664 ms (missed cycles : 3). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648664 ms (missed cycles : 3).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435755 ms (missed cycles : 2). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435755 ms (missed cycles : 2).[0m ×2 + 36.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.681ms + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251270 ms (missed cycles : 4). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251270 ms (missed cycles : 4).[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362493 ms (missed cycles : 5). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362493 ms (missed cycles : 5).[0m ×2 + 38.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.606ms + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808985 ms (missed cycles : 2). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808985 ms (missed cycles : 2).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398453 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398453 ms (missed cycles : 3).[0m ×2 + 41.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.667ms + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882493 ms (missed cycles : 3). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882493 ms (missed cycles : 3).[0m ×2 + 42.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.027ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114817 ms (missed cycles : 4). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114817 ms (missed cycles : 4).[0m ×2 + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702735 ms (missed cycles : 5). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702735 ms (missed cycles : 5).[0m ×2 + 44.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.323ms + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969708 ms (missed cycles : 3). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969708 ms (missed cycles : 3).[0m ×2 + 45.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.572ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161235 ms (missed cycles : 4). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161235 ms (missed cycles : 4).[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3).[0m ×2 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663884 ms (missed cycles : 3). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663884 ms (missed cycles : 3).[0m ×2 + 48.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.185ms + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800102 ms (missed cycles : 4). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800102 ms (missed cycles : 4).[0m ×2 + 49.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.829ms + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108219 ms (missed cycles : 2). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108219 ms (missed cycles : 2).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000612 ms (missed cycles : 4). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000612 ms (missed cycles : 4).[0m ×2 + 51.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.367ms + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304995 ms (missed cycles : 2). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304995 ms (missed cycles : 2).[0m ×2 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.028ms + 53.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466424 ms (missed cycles : 6). + 53.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466424 ms (missed cycles : 6).[0m ×2 + 54.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814036 ms (missed cycles : 3). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814036 ms (missed cycles : 3).[0m ×2 + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.527ms + 55.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634365 ms (missed cycles : 4). + 55.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634365 ms (missed cycles : 4).[0m ×2 + 55.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.392ms + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959608 ms (missed cycles : 2). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959608 ms (missed cycles : 2).[0m ×2 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 58.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 58.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 59.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 59.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 59.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 60.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 60.46sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 60.62sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.62sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.86sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 60.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.02sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 61.41sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 61.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 62.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 62.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 62.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 63.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 63.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	190 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458004 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458004 ms (missed cycles : 3).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.000ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833505 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833505 ms (missed cycles : 3).[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.297ms + 9.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.446ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679181 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679181 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.263ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.652ms + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.865ms + 11.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941363 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941363 ms (missed cycles : 3).[0m ×2 + 11.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.421ms + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336504 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336504 ms (missed cycles : 2).[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967664 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967664 ms (missed cycles : 3).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.710ms + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.801ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052175 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052175 ms (missed cycles : 2).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.487ms + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.308ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776678 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776678 ms (missed cycles : 2).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.598ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.746827 ms (missed cycles : 5). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.746827 ms (missed cycles : 5).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.429ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.943ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354841 ms (missed cycles : 5). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354841 ms (missed cycles : 5).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.752ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337566 ms (missed cycles : 3). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337566 ms (missed cycles : 3).[0m ×2 + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 19.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.109ms + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228822 ms (missed cycles : 2). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228822 ms (missed cycles : 2).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.120ms + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.825ms + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843068 ms (missed cycles : 3). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843068 ms (missed cycles : 3).[0m ×2 + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.694ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483678 ms (missed cycles : 5). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483678 ms (missed cycles : 5).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.993ms + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832229 ms (missed cycles : 6). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832229 ms (missed cycles : 6).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.491ms + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645326 ms (missed cycles : 3). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645326 ms (missed cycles : 3).[0m ×2 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.403ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573205 ms (missed cycles : 2). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573205 ms (missed cycles : 2).[0m ×2 + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.814ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.594ms + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087574 ms (missed cycles : 2). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087574 ms (missed cycles : 2).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.197ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938190 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938190 ms (missed cycles : 3).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.826ms + 28.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.022ms ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573824 ms (missed cycles : 3). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573824 ms (missed cycles : 3).[0m ×2 + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.557ms + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696935 ms (missed cycles : 3). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696935 ms (missed cycles : 3).[0m ×2 + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.786ms + 30.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102394 ms (missed cycles : 3). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102394 ms (missed cycles : 3).[0m ×2 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.541ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.047ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384212 ms (missed cycles : 3). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384212 ms (missed cycles : 3).[0m ×2 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.761ms + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.325ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892954 ms (missed cycles : 5). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892954 ms (missed cycles : 5).[0m ×2 + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622722 ms (missed cycles : 3). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622722 ms (missed cycles : 3).[0m ×2 + 34.29sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.34sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177595 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177595 ms (missed cycles : 3).[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992409 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992409 ms (missed cycles : 2).[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.168ms + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289956 ms (missed cycles : 4). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289956 ms (missed cycles : 4).[0m ×2 + 38.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.228ms + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030713 ms (missed cycles : 2). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030713 ms (missed cycles : 2).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074033 ms (missed cycles : 3). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074033 ms (missed cycles : 3).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.342ms + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039156 ms (missed cycles : 2). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039156 ms (missed cycles : 2).[0m ×2 + 41.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.087ms + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706161 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706161 ms (missed cycles : 2).[0m ×2 + 41.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.192ms + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254857 ms (missed cycles : 3). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254857 ms (missed cycles : 3).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823700 ms (missed cycles : 2). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823700 ms (missed cycles : 2).[0m ×2 + 44.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586615 ms (missed cycles : 3). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586615 ms (missed cycles : 3).[0m ×2 + 45.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.561ms + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144666 ms (missed cycles : 5). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144666 ms (missed cycles : 5).[0m ×2 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660247 ms (missed cycles : 3). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660247 ms (missed cycles : 3).[0m ×2 + 47.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.967ms + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109082 ms (missed cycles : 3). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109082 ms (missed cycles : 3).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.055ms + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033752 ms (missed cycles : 2). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033752 ms (missed cycles : 2).[0m ×2 + 50.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969570 ms (missed cycles : 6). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969570 ms (missed cycles : 6).[0m ×2 + 51.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.613ms + 51.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444394 ms (missed cycles : 3). + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444394 ms (missed cycles : 3).[0m ×2 + 51.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.618ms + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035317 ms (missed cycles : 3). + 52.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035317 ms (missed cycles : 3).[0m ×2 + 53.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179520 ms (missed cycles : 3). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179520 ms (missed cycles : 3).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964407 ms (missed cycles : 3). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964407 ms (missed cycles : 3).[0m ×2 + 54.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.799ms + 55.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754866 ms (missed cycles : 5). + 55.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754866 ms (missed cycles : 5).[0m ×2 + 56.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.795ms + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281163 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281163 ms (missed cycles : 2).[0m ×2 + 58.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195802 ms (missed cycles : 2). + 58.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195802 ms (missed cycles : 2).[0m ×2 + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.962ms + 59.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570698 ms (missed cycles : 3). + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570698 ms (missed cycles : 3).[0m ×2 + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.227ms + 60.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792528025.60874414 seconds ×3 + 60.15sINFOstate_estimatorReceived a set_pose request (stamp: 1792528025625782745, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.67) is out of map bounds (-4.90, 6.85) to (0.08, 11.83). The costmap cannot raytrace for it. ×2 + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-4.90, 6.85) to (0.08, 11.83). The costmap cannot raytrace for it. ×2 + 60.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890645 ms (missed cycles : 3). + 60.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890645 ms (missed cycles : 3).[0m ×2 + 60.37sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.37sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.62sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.931ms + 60.62sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 60.63sINFOamclInitializing particles from estimated pose and covariance + 60.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 60.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 60.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.65sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792528026.21868372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.325ms + 61.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 61.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843966 ms (missed cycles : 2). + 61.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843966 ms (missed cycles : 2).[0m ×2 + 61.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329258 ms (missed cycles : 3). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329258 ms (missed cycles : 3).[0m ×2 + 63.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359246 ms (missed cycles : 2). + 63.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359246 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.4s	174 warnings · 235 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.627ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.930ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792527833.85216236 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sINFOstate_estimatorReceived a set_pose request (stamp: 1792527833873024183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.271ms + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792527834.44980264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2).[0m ×2 + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.46sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.957ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813751 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813751 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018515 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018515 ms (missed cycles : 3).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.547ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173569 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173569 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.333ms + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570350 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570350 ms (missed cycles : 3).[0m ×2 + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.673ms + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.176ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790054 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790054 ms (missed cycles : 2).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.807ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.271ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799481 ms (missed cycles : 4). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799481 ms (missed cycles : 4).[0m ×2 + 13.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.121ms + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186387 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186387 ms (missed cycles : 2).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.538ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726606 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726606 ms (missed cycles : 3).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.885ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.700ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692360 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692360 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330909 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330909 ms (missed cycles : 3).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.790ms + 17.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.388ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146454 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146454 ms (missed cycles : 3).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.730ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865490 ms (missed cycles : 3). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865490 ms (missed cycles : 3).[0m ×2 + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.773ms + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145011 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145011 ms (missed cycles : 2).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.283ms + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.061ms + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046238 ms (missed cycles : 3). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046238 ms (missed cycles : 3).[0m ×2 + 21.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.543ms + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883243 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883243 ms (missed cycles : 2).[0m ×2 + 22.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.009ms + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.192ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224014 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224014 ms (missed cycles : 2).[0m ×2 + 23.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.526ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654999 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654999 ms (missed cycles : 3).[0m ×2 + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.466ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.530ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022781 ms (missed cycles : 2). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022781 ms (missed cycles : 2).[0m ×2 + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.894ms + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.471ms + 26.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335739 ms (missed cycles : 3). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335739 ms (missed cycles : 3).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.113ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742945 ms (missed cycles : 3). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742945 ms (missed cycles : 3).[0m ×2 + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.850ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.428ms + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158459 ms (missed cycles : 2). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158459 ms (missed cycles : 2).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.306ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.604ms + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360403 ms (missed cycles : 4). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360403 ms (missed cycles : 4).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.024ms + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070553 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070553 ms (missed cycles : 2).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.305ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.852ms + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172198 ms (missed cycles : 3). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172198 ms (missed cycles : 3).[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.730ms + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.184ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896087 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896087 ms (missed cycles : 2).[0m ×2 + 33.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.436ms + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812027 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812027 ms (missed cycles : 2).[0m ×2 + 34.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.212ms + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766769 ms (missed cycles : 5). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766769 ms (missed cycles : 5).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608331 ms (missed cycles : 4). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608331 ms (missed cycles : 4).[0m ×2 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017417 ms (missed cycles : 6). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017417 ms (missed cycles : 6).[0m ×2 + 37.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.19sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106845 ms (missed cycles : 2). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106845 ms (missed cycles : 2).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879779 ms (missed cycles : 2). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879779 ms (missed cycles : 2).[0m ×2 + 40.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.251ms + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024130 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024130 ms (missed cycles : 2).[0m ×2 + 40.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.433ms + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.680ms + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492776 ms (missed cycles : 5). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492776 ms (missed cycles : 5).[0m ×2 + 42.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.018ms + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952253 ms (missed cycles : 3). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952253 ms (missed cycles : 3).[0m ×2 + 42.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.510ms + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021502 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021502 ms (missed cycles : 3).[0m ×2 + 43.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.944ms + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787803 ms (missed cycles : 3). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787803 ms (missed cycles : 3).[0m ×2 + 45.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.072ms + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849535 ms (missed cycles : 6). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849535 ms (missed cycles : 6).[0m ×2 + 46.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.349ms + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117163 ms (missed cycles : 3). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117163 ms (missed cycles : 3).[0m ×2 + 47.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.158ms + 47.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.155ms + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945129 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945129 ms (missed cycles : 2).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.075ms + 48.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.744ms + 48.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.831ms + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279891 ms (missed cycles : 2). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279891 ms (missed cycles : 2).[0m ×2 + 49.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.160ms + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.290ms + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023218 ms (missed cycles : 2). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023218 ms (missed cycles : 2).[0m ×2 + 51.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.666ms + 51.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807893 ms (missed cycles : 2). + 51.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807893 ms (missed cycles : 2).[0m ×2 + 52.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707385 ms (missed cycles : 3). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707385 ms (missed cycles : 3).[0m ×2 + 52.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248568 ms (missed cycles : 4). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248568 ms (missed cycles : 4).[0m ×2 + 53.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.478ms + 54.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189856 ms (missed cycles : 3). + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189856 ms (missed cycles : 3).[0m ×2 + 54.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792527885.29999232 seconds ×3 + 54.75sINFOstate_estimatorReceived a set_pose request (stamp: 1792527885319839759, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 54.79sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 54.79sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 54.89sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 54.89sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 54.99sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.99sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.853ms + 55.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.33sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792527885.90317178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636885 ms (missed cycles : 3). + 55.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636885 ms (missed cycles : 3).[0m ×2 + 55.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 56.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428359 ms (missed cycles : 3). + 56.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428359 ms (missed cycles : 3).[0m ×2 + 56.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 57.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.969ms + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840129 ms (missed cycles : 3). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840129 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 424 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.30sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.30sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.30sINFOobjective_server_nodecaller: ×14 + 0.30sINFOobjective_server_nodetype: 0 ×14 + 0.30sINFOobjective_server_nodename: "" ×14 + 0.30sINFOobjective_server_nodeinstance_id: "" ×14 + 0.30sINFOobjective_server_node ×14 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.27sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110455 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110455 ms (missed cycles : 4).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 1161 particles 811 points - 8.031ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394848 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394848 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024028 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024028 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159386 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159386 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766722 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766722 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967818 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967818 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184568 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184568 ms (missed cycles : 3).[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816055 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816055 ms (missed cycles : 2).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966291 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966291 ms (missed cycles : 3).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958660 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958660 ms (missed cycles : 3).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020464 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020464 ms (missed cycles : 2).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884405 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884405 ms (missed cycles : 2).[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657981 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657981 ms (missed cycles : 3).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050155 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050155 ms (missed cycles : 2).[0m ×2 + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130766 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130766 ms (missed cycles : 2).[0m ×2 + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.309ms + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223543 ms (missed cycles : 2). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223543 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550324 ms (missed cycles : 3). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550324 ms (missed cycles : 3).[0m ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966826 ms (missed cycles : 3). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966826 ms (missed cycles : 3).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116133 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116133 ms (missed cycles : 2).[0m ×2 + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254482 ms (missed cycles : 2). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254482 ms (missed cycles : 2).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560708 ms (missed cycles : 4). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560708 ms (missed cycles : 4).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802400 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802400 ms (missed cycles : 2).[0m ×2 + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255803 ms (missed cycles : 2). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255803 ms (missed cycles : 2).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989807 ms (missed cycles : 3). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989807 ms (missed cycles : 3).[0m ×2 + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908041 ms (missed cycles : 3). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908041 ms (missed cycles : 3).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305131 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305131 ms (missed cycles : 2).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654274 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654274 ms (missed cycles : 2).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946087 ms (missed cycles : 3). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946087 ms (missed cycles : 3).[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072153 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072153 ms (missed cycles : 2).[0m ×2 + 38.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.947ms + 38.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372387 ms (missed cycles : 5). + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372387 ms (missed cycles : 5).[0m ×2 + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408127 ms (missed cycles : 4). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408127 ms (missed cycles : 4).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622648 ms (missed cycles : 3). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622648 ms (missed cycles : 3).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973908 ms (missed cycles : 4). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973908 ms (missed cycles : 4).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236214 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236214 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3).[0m ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2).[0m ×2 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2).[0m ×2 + 46.88sINFOjoint_trajectory_controllerGoal reached, success! + 46.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2).[0m ×2 + 46.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792527731.27302027 seconds ×3 + 46.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.95sINFOstate_estimatorReceived a set_pose request (stamp: 1792527731291567060, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.901ms + 47.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.45sINFOamclInitializing particles from estimated pose and covariance + 47.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 47.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792527731.85902882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.52sWARNobjective_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 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.975ms + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3).[0m ×2 + 48.58sINFOobjective_server_nodeFound path in 0 iterations (3.9441e-05 s). ×2 + 48.65sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.109ms + 49.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 50.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	114 warnings · 186 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717162 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717162 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735775 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735775 ms (missed cycles : 5).[0m ×2 + 1.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792527801.14496017 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698618 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698618 ms (missed cycles : 2).[0m ×2 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792527802.74202871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662439 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662439 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771175 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771175 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880503 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880503 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010741 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010741 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401642 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401642 ms (missed cycles : 3).[0m ×2 + 7.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.194ms + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.249ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733020 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733020 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.071ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575913 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575913 ms (missed cycles : 2).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.920ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.551ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659530 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659530 ms (missed cycles : 2).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.543ms + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.208ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754884 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754884 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.226ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405255 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405255 ms (missed cycles : 2).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.372ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.386ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274726 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274726 ms (missed cycles : 3).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296156 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296156 ms (missed cycles : 2).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.710ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208176 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208176 ms (missed cycles : 2).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.455ms + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104054 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104054 ms (missed cycles : 2).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.127ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401720 ms (missed cycles : 5). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401720 ms (missed cycles : 5).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.816ms + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.359ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423807 ms (missed cycles : 3). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423807 ms (missed cycles : 3).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.283ms + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.172ms + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464392 ms (missed cycles : 3). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464392 ms (missed cycles : 3).[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.634ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850982 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850982 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.281ms + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.475ms + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157309 ms (missed cycles : 4). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157309 ms (missed cycles : 4).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.547ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114302 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114302 ms (missed cycles : 2).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.155ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.856ms + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131806 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131806 ms (missed cycles : 3).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.996ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959901 ms (missed cycles : 3). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959901 ms (missed cycles : 3).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.496ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.746ms + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909713 ms (missed cycles : 3). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909713 ms (missed cycles : 3).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.376ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751317 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751317 ms (missed cycles : 2).[0m ×2 + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010956 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010956 ms (missed cycles : 2).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.872ms + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.860ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499982 ms (missed cycles : 3). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499982 ms (missed cycles : 3).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.900ms + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027934 ms (missed cycles : 2). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027934 ms (missed cycles : 2).[0m ×2 + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.627ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2).[0m ×2 + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.930ms + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 33.99sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792527833.85216236 seconds ×3 + 34.03sINFOstate_estimatorReceived a set_pose request (stamp: 1792527833873024183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 34.10sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 34.10sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.36sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.271ms + 34.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792527834.44980264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3).[0m ×2 + 34.99sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2).[0m ×2 + 36.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.17sINFOamclInitializing particles from estimated pose and covariance + 36.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 36.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.957ms + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	76 warnings · 260 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281163 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195802 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195802 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.962ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570698 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570698 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.227ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792528025.60874414 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1792528025625782745, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.67) is out of map bounds (-4.90, 6.85) to (0.08, 11.83). The costmap cannot raytrace for it. ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-4.90, 6.85) to (0.08, 11.83). The costmap cannot raytrace for it. ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890645 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890645 ms (missed cycles : 3).[0m ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.931ms + 3.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.75sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792528026.21868372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.325ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843966 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843966 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.59sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329258 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329258 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359246 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359246 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834436 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834436 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804890 ms (missed cycles : 4). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804890 ms (missed cycles : 4).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382889 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382889 ms (missed cycles : 2).[0m ×2 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 10.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646104 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646104 ms (missed cycles : 3).[0m ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 11.43sINFOobjective_server_nodeFound path in 33 iterations (0.0356184 s). ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839989 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839989 ms (missed cycles : 2).[0m ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.68sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884917 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884917 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.55sINFOobjective_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 3.154038 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154038 ms (missed cycles : 2).[0m ×2 + 14.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798767 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798767 ms (missed cycles : 2).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.470ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.645ms + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601319 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601319 ms (missed cycles : 3).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.121ms + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.045ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 19.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792528041.94055438 seconds ×3 + 19.59sINFOstate_estimatorReceived a set_pose request (stamp: 1792528041958320384, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 20.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.12sINFOamclParticle filter update iteration stats: 2156 particles 811 points - 7.231ms + 20.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569217, y=-0.0171793, yaw=-0.0183994 + 20.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792528042.56496596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.19sINFOmove_groupClearing octomap...[0m ×2 + 20.19sINFOmove_groupOctomap cleared.[0m ×2 + 20.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3).[0m ×2 + 20.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.983ms + 21.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792528043.68509793 seconds ×3 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2).[0m ×2 + 21.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.85sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792528044.26695561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2).[0m ×2 + 22.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792528045.31707811 seconds ×3 + 23.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	120 errors · 30 warnings · 582 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.045ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 1.30sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792528041.94055438 seconds ×3 + 1.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.36sINFOstate_estimatorReceived a set_pose request (stamp: 1792528041958320384, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.88sINFOobjective_server_nodecaller: ×4 + 1.88sINFOobjective_server_nodetype: 0 ×4 + 1.88sINFOobjective_server_nodename: "" ×4 + 1.88sINFOobjective_server_nodeinstance_id: "" ×4 + 1.88sINFOobjective_server_node ×4 + 1.89sINFOamclParticle filter update iteration stats: 2156 particles 811 points - 7.231ms + 1.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.89sINFOamclInitializing particles from estimated pose and covariance + 1.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569217, y=-0.0171793, yaw=-0.0183994 + 1.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792528042.56496596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.96sINFOmove_groupClearing octomap...[0m ×2 + 1.96sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.983ms + 3.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792528043.68509793 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792528044.26695561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792528045.31707811 seconds ×3 + 4.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765743 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765743 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899117 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899117 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313121 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313121 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645168 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645168 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354669 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354669 ms (missed cycles : 4).[0m ×2 + 10.22sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.23sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.24sERRORweb_video_auth_proxy-41process has died [pid 8375, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.24sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.25sERRORweb_bridge_auth_proxy-40process has died [pid 8374, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.25sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.26sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.26sINFOvideo_server2026/10/20 20:27:30 INF shutting down gracefully ×2 + 10.26sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.26sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.28sINFOvideo_server2026/10/20 20:27:30 INF [WebRTC] closing ×2 + 10.28sINFOvideo_server2026/10/20 20:27:30 INF [RTSP] closing ×2 + 10.28sINFOvideo_server2026/10/20 20:27:30 INF waiting for running hooks ×2 + 10.30sINFOvideo_server-39process has finished cleanly [pid 8357] ×2 + 10.32sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.33sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.38sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.39sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.40sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.41sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.42sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.43sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.44sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.46sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.47sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.48sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.49sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.51sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.51sINFOcontroller_managerShutdown request received.... + 10.51sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.51sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.51sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.51sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.51sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.52sINFOcontroller_managerShutting down the controller manager. + 10.52sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.54sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.54sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8355] ×2 + 10.55sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.56sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.56sERRORmove_group-25process has died [pid 8303, 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_1m2virfy --params-file /tmp/launch_params_nw861j6y --params-file /tmp/launch_params_2qm0mlm5 --params-file /tmp/launch_params_5fez_g78 --params-file /tmp/launch_params_1vn_a71a --params-file /tmp/launch_params_cek7fxrl']. ×2 + 10.57sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.59sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.60sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.61sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.62sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.63sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.64sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.64sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.64sINFOmap_serverDeactivating + 10.64sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.65sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.65sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.65sINFOcontroller_serverDeactivating + 10.65sINFOlocal_costmap.local_costmapDeactivating + 10.65sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.65sINFOmap_serverCleaning up + 10.65sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.65sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.65sERRORmove_groupStack trace (most recent call last) in thread 8977: ×2 + 10.65sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.65sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.65sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.65sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.65sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.65sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.65sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.65sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.65sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.65sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.65sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ca7442cc3, in __clone ×2 + 10.65sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ca73b5b83, in ×2 + 10.65sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3ca7646db3, in ×2 + 10.65sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f3ca7db0e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.65sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3ca79da620, in rclcpp::Rate::sleep() ×2 + 10.65sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3ca791cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.65sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3ca78de087, in ×2 + 10.65sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3ca7615390, in __cxa_throw ×2 + 10.65sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3ca75ffa54, in std::terminate() ×2 + 10.65sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3ca76150d9, in ×2 + 10.65sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3ca75ffff4, in ×2 + 10.65sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ca73418fe, in abort ×2 + 10.65sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ca735e27d, in raise ×2 + 10.65sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ca73b7c0c, in pthread_kill ×2 + 10.65sERRORmove_groupAborted (Signal sent by tkill() 8303 0) ×2 + 10.65sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 10.66sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.66sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.66sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.66sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.67sERRORamclThe bond connection to the lifecycle manager has been broken + 10.67sINFOcontroller_serverCleaning up + 10.67sINFOlocal_costmap.local_costmapCleaning up + 10.71sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.71sINFOsmoother_serverDeactivating + 10.71sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.72sINFOsmoother_serverCleaning up + 10.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.73sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.73sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.73sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.73sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.73sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.73sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.73sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.73sINFOvelocity_smootherDeactivating + 10.73sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.75sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.75sINFOplanner_serverDeactivating + 10.75sINFOglobal_costmap.global_costmapDeactivating + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.85sINFOwaypoint_followerDeactivating + 10.85sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.04sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.04sINFObt_navigatorDeactivating + 11.04sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.08sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.08sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.09sINFOplanner_serverCleaning up + 11.10sINFOglobal_costmap.global_costmapCleaning up + 11.11sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.11sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.14sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.14sINFObehavior_serverDeactivating + 11.14sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.15sINFObehavior_serverCleaning up + 11.16sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.16sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.16sINFOwaypoint_followerCleaning up + 11.17sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.17sINFOvelocity_smootherCleaning up + 11.17sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.23sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.29sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.29sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.29sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.29sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.29sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.29sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.29sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.29sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.29sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.29sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.31sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.31sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.31sINFObt_navigatorCleaning up + 11.37sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.37sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.37sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.37sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.37sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.37sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.37sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.37sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.37sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.37sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.37sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.37sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.37sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.41sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.41sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.41sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.41sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.41sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.41sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.41sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.41sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.42sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.42sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.42sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.42sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.42sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.42sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.42sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.42sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.42sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.42sERRORjoint_state_visualization_relay-37process has died [pid 8354, 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_eyg876y1']. ×2 + 11.42sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.47sERRORtf_visualization_relay-36process has died [pid 8351, 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_7cxv4ct2']. ×2 + 11.47sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.49sINFObt_navigatorCompleted Cleaning up + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.49sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.49sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.50sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.50sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.52sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8330] ×2 + 11.52sINFOui_teleop_bridge-34process has finished cleanly [pid 8342] ×2 + 11.52sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8329] ×2 + 11.53sINFOexecute_objective_bridge-33process has finished cleanly [pid 8341] ×2 + 11.57sINFOparameter_manager_node-26process has finished cleanly [pid 8307] ×2 + 11.59sINFOrelay-11process has finished cleanly [pid 8244] ×2 + 11.59sINFOwaypoint_manager_node-27process has finished cleanly [pid 8308] ×2 + 11.60sINFOrelay-10process has finished cleanly [pid 8243] ×2 + 11.61sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8139] ×2 + 11.62sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8245] ×2 + 11.63sINFOcomponent_container_mt-32process has finished cleanly [pid 8335] ×2 + 11.63sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8138] ×2 + 11.63sINFOstatic_transform_publisher-7process has finished cleanly [pid 8137] ×2 + 11.64sINFOstatic_transform_publisher-6process has finished cleanly [pid 8136] ×2 + 11.65sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.65sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.65sINFOlidar_flattener.pymain() ×2 + 11.65sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.65sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.65sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.65sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.65sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.65sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.65sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.65sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.65sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.65sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.65sINFOobjective_server_node[2026-10-20 20:27:32.261] [moveit_pro_license] [critical] ×2 + 11.65sINFOobjective_server_node************************************************* ×4 + 11.65sINFOobjective_server_node* MoveIt Pro License ×2 + 11.65sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.67sINFOstatic_transform_publisher-3process has finished cleanly [pid 8133] ×2 + 11.69sERRORlidar_flattener.py-5process has died [pid 8135, 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_hawiq5vl']. ×2 + 11.80sERRORcomponent_container_isolated-1process has died [pid 8131, 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_i24f47t2 --params-file /tmp/launch_params_z3te96e4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.86sINFOobjective_server_node_main-30process has finished cleanly [pid 8331] ×2 + 11.86sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.66sINFOodom_world_drift-4process has finished cleanly [pid 8134] ×2 + 12.66sINFOcomponent_container_mt-31process has finished cleanly [pid 8332] ×2 + 12.95sERRORcomponent_container_isolated-2process has died [pid 8132, 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_i24f47t2 --params-file /tmp/launch_params_bu4dq3jg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.21sINFOweb_bridge-35process has finished cleanly [pid 8350] ×2 + 13.21sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.26sINFOros2_control_node-13process has finished cleanly [pid 8246] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 58 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707385 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707385 ms (missed cycles : 3).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248568 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248568 ms (missed cycles : 4).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.478ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189856 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189856 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792527885.29999232 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOstate_estimatorReceived a set_pose request (stamp: 1792527885319839759, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.853ms + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792527885.90317178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636885 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636885 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428359 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428359 ms (missed cycles : 3).[0m ×2 + 4.64sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.64sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.64sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.64sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 4.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.969ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840129 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840129 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382754 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382754 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068204 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068204 ms (missed cycles : 2).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.361ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693830 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693830 ms (missed cycles : 2).[0m ×2 + 9.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.857ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.878ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082537 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082537 ms (missed cycles : 2).[0m ×2 + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.176ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150548 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150548 ms (missed cycles : 4).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.022ms + 11.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.740ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462313 ms (missed cycles : 4). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462313 ms (missed cycles : 4).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.653ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.609ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197066 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197066 ms (missed cycles : 2).[0m ×2 + 13.12sINFOobjective_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 + 13.12sINFOjoint_trajectory_controllerGot request to cancel goal + 13.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.15sERRORobjective_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: 1792527895.95499921 seconds ×3 + 13.17sINFOstate_estimatorReceived a set_pose request (stamp: 1792527895969709441, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.36sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.36sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.51sINFOamclParticle filter update iteration stats: 4601 particles 811 points - 8.104ms + 13.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792527896.55624270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854328 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854328 ms (missed cycles : 2).[0m ×2 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710999 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710999 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.728ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228263 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228263 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	50 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171307 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171307 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717162 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717162 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735775 ms (missed cycles : 5). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735775 ms (missed cycles : 5).[0m ×2 + 9.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792527801.14496017 seconds ×3 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698618 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698618 ms (missed cycles : 2).[0m ×2 + 11.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.18sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792527802.74202871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662439 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662439 ms (missed cycles : 3).[0m ×2 + 11.60sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771175 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771175 ms (missed cycles : 4).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880503 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880503 ms (missed cycles : 3).[0m ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	45 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.936ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.059ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.350ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.481ms + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.934ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221423 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221423 ms (missed cycles : 3).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.406ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140396 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140396 ms (missed cycles : 5).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792527961.76640916 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1792527961788259281, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.062ms + 3.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.35sINFOamclInitializing particles from estimated pose and covariance + 3.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792527962.35701513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207114 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207114 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.444ms + 3.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847527 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847527 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778864 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778864 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 9.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 12.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	39 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792527731.27302027 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792527731291567060, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.901ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.68sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792527731.85902882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNobjective_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 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.975ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9441e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.109ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 6.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 6.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 7.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.067ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364820 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364820 ms (missed cycles : 4).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 7.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 8.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.724ms + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838250 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838250 ms (missed cycles : 3).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 8.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.771ms + 8.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 9.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792527737.39915776 seconds ×3 + 9.30sINFOstate_estimatorReceived a set_pose request (stamp: 1792527737414950323, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778169 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778169 ms (missed cycles : 4).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 9.446ms + 9.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.81sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792527737.99089813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763007 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763007 ms (missed cycles : 2).[0m ×2 + 11.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760887 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760887 ms (missed cycles : 3).[0m ×2 + 12.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.7s	27 warnings · 128 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.645ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601319 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601319 ms (missed cycles : 3).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.121ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.045ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792528041.94055438 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1792528041958320384, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.84sINFOamclParticle filter update iteration stats: 2156 particles 811 points - 7.231ms + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.84sINFOamclInitializing particles from estimated pose and covariance + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569217, y=-0.0171793, yaw=-0.0183994 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792528042.56496596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.983ms + 5.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792528043.68509793 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792528044.26695561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792528045.31707811 seconds ×3 + 6.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765743 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765743 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899117 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899117 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 21 warnings · 730 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.16sINFOobjective_server_nodeobjective_name: "" ×10 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.16sINFOobjective_server_nodecaller: ×24 + 0.16sINFOobjective_server_nodetype: 0 ×24 + 0.16sINFOobjective_server_nodename: "" ×24 + 0.16sINFOobjective_server_nodeinstance_id: "" ×24 + 0.16sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.85sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.85sINFOobjective_server_node</Control> ×16 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.85sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.85sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 0.98sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 1.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 1.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_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 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 21 warnings · 842 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.54sINFOobjective_server_nodeobjective_name: "" ×12 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.54sINFOobjective_server_node ×68 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.54sINFOobjective_server_node</Control> ×24 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.54sINFOobjective_server_nodecaller: ×26 + 0.54sINFOobjective_server_nodetype: 0 ×26 + 0.54sINFOobjective_server_nodename: "" ×26 + 0.54sINFOobjective_server_nodeinstance_id: "" ×26 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.74sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 1.56sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 2.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.15sINFOmove_groupClearing octomap...[0m ×4 + 3.15sINFOmove_groupOctomap cleared.[0m ×4 + 3.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 4.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_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 + 6.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 7.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 7.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 341 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.30sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.30sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.30sINFOobjective_server_nodecaller: ×12 + 0.30sINFOobjective_server_nodetype: 0 ×12 + 0.30sINFOobjective_server_nodename: "" ×12 + 0.30sINFOobjective_server_nodeinstance_id: "" ×12 + 0.30sINFOobjective_server_node ×12 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.27sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.26sINFOjoint_trajectory_controllerReceived new action goal + 5.26sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792527731.27302027 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 + 3.17sINFOros2_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 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792527731291567060, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.901ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792527731.85902882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNobjective_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 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.975ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9441e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.109ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 6.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355889 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106183 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194723 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073233 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792527731.27302027 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 + 3.17sINFOros2_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 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOstate_estimatorReceived a set_pose request (stamp: 1792527731291567060, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.901ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792527731.85902882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNobjective_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 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.975ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549599 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9441e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746068 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.109ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 6.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 89 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773625 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.067ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364820 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364820 ms (missed cycles : 4).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.724ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838250 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838250 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.771ms + 2.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792527737.39915776 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOstate_estimatorReceived a set_pose request (stamp: 1792527737414950323, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778169 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778169 ms (missed cycles : 4).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 9.446ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792527737.99089813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763007 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763007 ms (missed cycles : 2).[0m ×2 + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.28sINFOamclInitializing particles from estimated pose and covariance + 5.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760887 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760887 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692532 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493158 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636965 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994463 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792527794.75101995 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792527794771532713, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.61) is out of map bounds (-4.60, 5.65) to (0.38, 10.63). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.238ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792527795.36483479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921399 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948145 ms (missed cycles : 2).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548137, y=-0.0165716, yaw=-0.0171274 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.875ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094608 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	24 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.627ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.930ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792527833.85216236 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOstate_estimatorReceived a set_pose request (stamp: 1792527833873024183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.271ms + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792527834.44980264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2).[0m ×2 + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.46sINFOamclInitializing particles from estimated pose and covariance + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.957ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	24 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.627ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.930ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792527833.85216236 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOstate_estimatorReceived a set_pose request (stamp: 1792527833873024183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.271ms + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792527834.44980264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2).[0m ×2 + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.46sINFOamclInitializing particles from estimated pose and covariance + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.957ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	24 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.627ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.930ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792527833.85216236 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOstate_estimatorReceived a set_pose request (stamp: 1792527833873024183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.271ms + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792527834.44980264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2).[0m ×2 + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.46sINFOamclInitializing particles from estimated pose and covariance + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.957ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	24 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.627ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220686 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.930ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895935 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792527833.85216236 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOstate_estimatorReceived a set_pose request (stamp: 1792527833873024183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-3.75, 1.35) to (1.23, 6.33). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.271ms + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792527834.44980264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360944 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806035 ms (missed cycles : 2).[0m ×2 + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.46sINFOamclInitializing particles from estimated pose and covariance + 5.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.957ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117076 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 18 warnings · 674 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.00sINFOobjective_server_nodeobjective_name: "" ×8 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.00sINFOobjective_server_node ×50 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.00sINFOobjective_server_node</Control> ×16 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.00sINFOobjective_server_nodecaller: ×22 + 0.00sINFOobjective_server_nodetype: 0 ×22 + 0.00sINFOobjective_server_nodename: "" ×22 + 0.00sINFOobjective_server_nodeinstance_id: "" ×22 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 0.13sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 0.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 1.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.68sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.73sINFOmove_groupClearing octomap...[0m ×4 + 1.73sINFOmove_groupOctomap cleared.[0m ×4 + 1.74sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.74sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249926 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687314 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792527968.24734306 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792527968.84860229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363178 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651470 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699079 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 128 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.645ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601319 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601319 ms (missed cycles : 3).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.121ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.045ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279091 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893930 ms (missed cycles : 4).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792528041.94055438 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1792528041958320384, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.84sINFOamclParticle filter update iteration stats: 2156 particles 811 points - 7.231ms + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.84sINFOamclInitializing particles from estimated pose and covariance + 3.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569217, y=-0.0171793, yaw=-0.0183994 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792528042.56496596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665123 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.983ms + 5.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792528043.68509793 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121738 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792528044.26695561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964934 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792528045.31707811 seconds ×3 + 6.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 24 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 0.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 0.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.20sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.24sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.87sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.91sINFOmove_groupClearing octomap...[0m ×4 + 0.91sINFOmove_groupOctomap cleared.[0m ×4 + 0.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 2.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_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 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	6 errors · 21 warnings · 683 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.00sINFOobjective_server_nodeobjective_name: "" ×8 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.00sINFOobjective_server_node ×50 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.00sINFOobjective_server_node</Control> ×16 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.00sINFOobjective_server_nodecaller: ×22 + 0.00sINFOobjective_server_nodetype: 0 ×22 + 0.00sINFOobjective_server_nodename: "" ×22 + 0.00sINFOobjective_server_nodeinstance_id: "" ×22 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 0.13sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 0.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 1.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.68sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.73sINFOmove_groupClearing octomap...[0m ×4 + 1.73sINFOmove_groupOctomap cleared.[0m ×4 + 1.74sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.74sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 6.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.24sINFOjoint_trajectory_controllerReceived new action goal + 7.24sINFOjoint_trajectory_controllerAccepted new action goal + 7.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 830 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×22 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×24 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×44 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×48 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×24 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×24 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.08sINFOobjective_server_nodeobjective_name: "" ×12 + 1.08sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.08sINFOobjective_server_node ×66 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.08sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.08sINFOobjective_server_node</Control> ×24 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.09sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.09sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.09sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.09sINFOobjective_server_nodecaller: ×24 + 1.09sINFOobjective_server_nodetype: 0 ×24 + 1.09sINFOobjective_server_nodename: "" ×24 + 1.09sINFOobjective_server_nodeinstance_id: "" ×24 + 1.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 2.10sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.83sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.70sINFOmove_groupClearing octomap...[0m ×4 + 3.70sINFOmove_groupOctomap cleared.[0m ×4 + 3.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 7.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.20sINFOobjective_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 + 7.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3
− skipped	—	addtovector.xml	0.0s	6 errors · 18 warnings · 741 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569203 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.08sINFOobjective_server_nodeobjective_name: "" ×12 + 1.08sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.08sINFOobjective_server_node ×64 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.08sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.08sINFOobjective_server_node</Control> ×24 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.09sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.09sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.09sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.09sINFOobjective_server_nodecaller: ×22 + 1.09sINFOobjective_server_nodetype: 0 ×22 + 1.09sINFOobjective_server_nodename: "" ×22 + 1.09sINFOobjective_server_nodeinstance_id: "" ×22 + 1.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 2.10sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.83sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 18 warnings · 730 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.16sINFOobjective_server_nodeobjective_name: "" ×10 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.16sINFOobjective_server_nodecaller: ×24 + 0.16sINFOobjective_server_nodetype: 0 ×24 + 0.16sINFOobjective_server_nodename: "" ×24 + 0.16sINFOobjective_server_nodeinstance_id: "" ×24 + 0.16sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.85sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.85sINFOobjective_server_node</Control> ×16 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.85sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.85sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 0.98sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 1.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 1.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_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 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 18 warnings · 730 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.16sINFOobjective_server_nodeobjective_name: "" ×10 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.16sINFOobjective_server_nodecaller: ×24 + 0.16sINFOobjective_server_nodetype: 0 ×24 + 0.16sINFOobjective_server_nodename: "" ×24 + 0.16sINFOobjective_server_nodeinstance_id: "" ×24 + 0.16sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.85sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.85sINFOobjective_server_node</Control> ×16 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.85sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.85sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 0.98sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 1.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 1.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_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 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 18 warnings · 730 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.52703524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.62722301 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.16sINFOobjective_server_nodeobjective_name: "" ×10 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.16sINFOobjective_server_nodecaller: ×24 + 0.16sINFOobjective_server_nodetype: 0 ×24 + 0.16sINFOobjective_server_nodename: "" ×24 + 0.16sINFOobjective_server_nodeinstance_id: "" ×24 + 0.16sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527681.73174739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527681.81188464 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285744 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.85sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.85sINFOobjective_server_node</Control> ×16 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.85sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.85sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.85sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.41224337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527682.50238943 seconds ×3 + 0.98sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527682.57173419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527682.63184905 seconds ×3 + 1.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 1.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_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 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 21 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.22598696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672302 ms (missed cycles : 2).[0m ×2 + 0.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792527683.36611390 seconds ×3 + 0.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.20sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.24sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792527683.42911363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792527683.50923562 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.87sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.91sINFOmove_groupClearing octomap...[0m ×4 + 0.91sINFOmove_groupOctomap cleared.[0m ×4 + 0.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 2.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_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 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2

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

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792527684.09400010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792527684.12097716 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616060 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792527684.70297623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792527684.76310658 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708192 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792527685.46210742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792527685.52223110 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792527686.22198534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792527686.24211836 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817010 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792527686.82863760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792527686.97920704 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628688 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792527687.59076738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792527687.64090872 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792527688.23160481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052510 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317357 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681651 ms (missed cycles : 4).[0m ×2